Proximal Control of UAVs With Federated Learning for Human-Robot Collaborative Domains

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00379152" target="_blank" >RIV/68407700:21230/24:00379152 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2024.3491417" target="_blank" >https://doi.org/10.1109/LRA.2024.3491417</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2024.3491417" target="_blank" >10.1109/LRA.2024.3491417</a>

Result language
angličtina
Original language name
Proximal Control of UAVs With Federated Learning for Human-Robot Collaborative Domains
Original language description
The human-robot interaction (HRI) is a growing area of research. In HRI, complex command (action) classification is still an open problem that usually prevents the real applicability of such a technique. The literature presents some works that use neural networks to detect these actions. However, occlusion is still a major issue in HRI, especially when using uncrewed aerial vehicles (UAVs), since, during the robot's movement, the human operator is often out of the robot's field of view. Furthermore, in multi-robot scenarios, distributed training is also an open problem. In this sense, this work proposes an action recognition and control approach based on Long Short-Term Memory (LSTM) Deep Neural Networks with two layers in association with three densely connected layers and Federated Learning (FL) embedded in multiple drones. The FL enabled our approach to be trained in a distributed fashion, i.e., access to data without the need for cloud or other repositories, which facilitates the multi-robot system's learning. Furthermore, our multi-robot approach results also prevented occlusion situations, with experiments with real robots achieving an accuracy greater than 96%.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control

Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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