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

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00384109" target="_blank" >RIV/68407700:21230/25:00384109 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2025.3583607" target="_blank" >https://doi.org/10.1109/LRA.2025.3583607</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2025.3583607" target="_blank" >10.1109/LRA.2025.3583607</a>

Result language
angličtina
Original language name
Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications
Original language description
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.
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
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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
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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