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）和分布式多机器人系统的综合研究。我们将开发方法和算法，让无仪表的人类仅通过自然手势来形成，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（包括姿势和运动），然后使用机器人与机器人之间的通信来同意他们对用户意图的解释。我们的激励场景是（i）情景感知操作，其中人类-机器人团队工作以获得大区域的地图，定位和识别各种感兴趣的对象（例如，人，车辆，扰动的地球，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),