HRI in the Sky: Command and Control of Teams of Flying Robots by Uninstrumented Operators

我们建议购买一个机器人平台，以支持独特的人机交互（HRI）集成研究和分布式多机器人系统。我们将为无仪器的人类开发方法和算法，仅通过自然手势就可以形成、修改和分配任务给自主无人机（UAV）机器人团队。飞行机器人将使用计算机视觉来观察地面上人类的动作（包括姿势和动作），然后使用机器人之间的通信来达成它们对用户意图的理解。我们的激励方案是：(i)态势感知操作，人机团队工作以获得一个大区域的地图，定位和识别各种感兴趣的物体（例如人、车辆、被扰动的泥土、液体池）；

We propose to purchase a robot platform to support unique integrated research in Human-Robot Interaction (HRI) and distributed multi-robot systems. We will develop methods and algorithms for uninstrumented humans to form, modify and allocate tasks to teams of autonomous Unmanned Aerial Vehicle (UAV) robots by means of natural gestures alone. The flying robots will use computer vision to observe the actions (including posture and motions) of humans on the ground, then use robot-to-robot communication to agree on their interpretation of the user's intentions. Our motivating scenarios are (i) a situational awareness operation, where the human-robot team works to obtain a map of a large area, locating and identifying various objects of interest (e.g. people, vehicles, disturbed earth, pools of liquid),