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

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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),