Figure 1: a) The drone points in the slingshot mode: the user pulls the drone using a leash and a hand grip causing a displacement. b) While the drone is in slingshot mode, the trajectory and the object of interest is visualized in virtual scene by simplifying pointing. c) The drone is in projectile mode: it approaches and grabs the object of interest. ABSTRACTWe propose SlingDrone, a novel Mixed Reality interaction paradigm that utilizes a micro-quadrotor as both pointing controller and interactive robot with a slingshot motion type. The drone attempts to hover at a given position while the human pulls it in desired direction using a hand grip and a leash. Based on the displacement, a virtual trajectory is defined. To allow for intuitive and simple control, we use virtual reality (VR) technology to trace the path of the drone based on the displacement input. The user receives force feedback propagated through the leash. Force feedback from SlingDrone coupled with visualized trajectory in VR creates an intuitive and user friendly pointing device. When the drone is released, it follows the trajectory that was shown in VR. Onboard payload (e.g. magnetic gripper) can perform various scenarios for real interaction with the surroundings, e.g. manipulation or sensing. Unlike HTC Vive controller, SlingDrone does not require handheld devices, thus it can be used as a standalone pointing technology in VR.

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