Teleoperation tasks with multi-agent systems have a high potential in supporting human-swarm collaborative teams in exploration and rescue operations. However, it requires an intuitive and adaptive control approach to ensure swarm stability in a cluttered and dynamically shifting environment. We propose a novel human-swarm interaction system, allowing the user to control swarm position and formation by either direct hand motion or by trajectory drawing with a hand gesture interface based on the DNN gesture recognition. The key technology of the SwarmPaint is the user's ability to perform various tasks with the swarm without additional devices by switching between interaction modes. Two types of interaction were proposed and developed to adjust a swarm behavior: free-form trajectory generation control and shaped formation control. Two preliminary user studies were conducted to explore user's performance and subjective experience from human-swarm interaction through the developed control modes. The experimental results revealed a sufficient accuracy in the trajectory tracing task (mean error of 5.6 cm by gesture draw and 3.1 cm by mouse draw with the pattern of dimension 1 m by 1 m) over three evaluated trajectory patterns and up to 7.3 cm accuracy in targeting task with two target patterns of 1 m achieved by SwarmPaint interface. Moreover, the participants evaluated the trajectory drawing interface as more intuitive (12.9%) and requiring less effort to utilize (22.7%) than direct shape and position control by gestures, although its physical workload and failure in performance were presumed as more significant (by 9.1% and 16.3%, respectively). The proposed SwarmPaint technology can be potentially applied in various human-swarm scenarios, including complex environment exploration, dynamic lighting generation, and interactive drone shows, allowing users to actively participate in the swarm behavior decision on a different scale of control.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    SwarmPaint: Human-Swarm Interaction for Trajectory Generation and Formation Control by DNN-based Gesture Interface


    Beteiligte:


    Erscheinungsdatum :

    15.06.2021


    Format / Umfang :

    3821150 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications

    Krátký, Vít / Silano, Giuseppe / Vrba, Matouš et al. | ArXiv | 2024

    Freier Zugriff

    A Gesture Based Interface for Human-Robot Interaction

    Waldherr, S. / Romero, R. / Thrun, S. | British Library Online Contents | 2001


    A Gesture Based Interface for Robot Interaction and Control

    S. Selvakumar | BASE | 2018

    Freier Zugriff

    Human-Swarm Interface for Abstraction Based Control

    Pollini, Lorenzo / Niccolini, Marta / Rosellini, Michele et al. | AIAA | 2009


    Human-Swarm Interface for Abstraction Based Control

    Pollini, L. / Niccolini, M. / Rosellini, M. et al. | British Library Conference Proceedings | 2009