安全監視のためのジェスチャー制御による空中ロボットフォーメーションと人間-群ロボットインタラクション
Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications
高所作業者の安全監視を目的に、人間のジェスチャーで複数UAVのフォーメーションを制御するシステムを開発し、実機実験で有効性を示した。
著者: Vít Krátký, Giuseppe Silano, Matouš Vrba, Christos Papaioannidis, Ioannis Mademlis, Robert Pěnička, Ioannis Pitas, Martin Saska
分類: cs.RO
原文アブストラクト
This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a human worker. The approach is designed to monitor the safety of human workers, particularly those operating at heights. In the proposed dynamic formation scheme, one UAV acts as the formation leader, equipped with sensors for detecting human workers and recognizing gestures. The follower UAVs maintain a predetermined formation relative to the worker's position, providing additional perspectives of the monitored scene. Hand gestures enable the human worker to specify movement and action commands for the UAV team and to initiate other mission-related tasks without requiring additional communication channels or specific markers. Combined with a novel unified human detection and tracking algorithm, a human position estimation method, and a gesture detection pipeline, the proposed approach represents the first instance of an HSI system incorporating all these modules onboard real-world UAVs. Simulations and field experiments involving three UAVs and a human worker in a mock-up scenario demonstrate the effectiveness and responsiveness of the proposed approach.
