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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2025

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

10

Číslo periodika v rámci svazku

8

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

8244-8251

Kód UT WoS článku

001525502800002

EID výsledku v databázi Scopus

2-s2.0-105009424388