A prototyping environment for interaction between a human and a robotic multi-agent system

Lichtenstern, Michael; Frassl, Martin; Perun, Bernhard; Angermann, Michael

doi:10.1145/2157689.2157747

Cited by 24 publications

(14 citation statements)

References 4 publications

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“…Another interesting application is to use a quadrocopter to provide external visual imagery, which allows for example athletes to gain a better understanding of their motions [13]. Lichtenstern et al [17] presented a system where they control a team of flying robots using gestures, captured by a hovering quadrocopter with a depth camera. This is different from our work as the quadrocopter is only hovering, so no substantial movement of the camera is expected.…”

Section: Related Workmentioning

confidence: 99%

FollowMe: Person following and gesture recognition with a quadrocopter

Naseer

Sturm

Cremers

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper, we present an approach that allows a quadrocopter to follow a person and to recognize simple gestures using an onboard depth camera. This enables novel applications such as hands-free filming and picture taking. The problem of tracking a person with an onboard camera however is highly challenging due to the self-motion of the platform. To overcome this problem, we stabilize the depth image by warping it to a virtual-static camera, using the estimated pose of the quadrocopter obtained from vision and inertial sensors using an Extended Kalman filter. We show that such a stabilized depth video is well suited to use with existing person trackers such as the OpenNI tracker. Using this approach, the quadrocopter not only obtains the position and orientation of the tracked person, but also the full body pose -which can then for example be used to recognize hand gestures to control the quadrocopter's behaviour. We implemented a small set of example commands ("follow me", "take picture", "land"), and generate corresponding motion commands. We demonstrate the practical performance of our approach in an extensive set of experiments with a quadrocopter. Although our current system is limited to indoor environments and small motions due to the restrictions of the used depth sensor, it indicates that there is large potential for such applications in the near future.

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Section: Related Workmentioning

confidence: 99%

FollowMe: Person following and gesture recognition with a quadrocopter

Naseer

Sturm

Cremers

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The key indicator in such systems is the fan-out of a Human-agents team as defined by Olsen and Wood in [37], [38] to be the number of agents that a Human can control simultaneously. The examples, found in literature, deal mainly with Human-multiple robot interaction/control [23], [39]. In this context the fan-out for a Human/robots team can reach 18 homogenous robots [40].…”

Section: B the Human/multi-agent System Interaction Issuementioning

confidence: 99%

“…However, some recent works that deal with this issue in various contexts such as Human activity recognition [22] or Human/multiple robots interactions definition [23], start to appear. This scarce representation of this issue in literature is mainly due to the complex character of these kinds of systems where the global emergent properties are not easily predictable.…”

Section: Introductionmentioning

confidence: 99%

Sphericall: A Human/Artificial Intelligence interaction experience

Gechter¹,

Ronzani²,

Rioli³

2014

IJIMAI

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-49- Abstract -Multi-agent systems are now wide spread in scientific works and in industrial applications. Few applications deal with the Human/Multi-agent system interaction. Multi-agent systems are characterized by individual entities, called agents, in interaction with each other and with their environment. Multiagent systems are generally classified into complex systems categories since the global emerging phenomenon cannot be predicted even if every component is well known. The systems developed in this paper are named reactive because they behave using simple interaction models. In the reactive approach, the issue of Human/system interaction is hard to cope with and is scarcely exposed in literature. This paper presents Sphericall, an application aimed at studying Human/Complex System interactions and based on two physics inspired multi-agent systems interacting together. The Sphericall device is composed of a tactile screen and a spherical world where agents evolve. This paper presents both the technical background of Sphericall project and a feedback taken from the demonstration performed during OFFF Festival in La Villette (Paris).

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“…al. [7] explored commanding multiple robots using 3D selection techniques that do not require tangible devices. However, they did not explore different methods of 3D spatial interaction and solely reported their facilitation for selection and coordination of movements of multiple-robot teams.…”

Section: Related Workmentioning

confidence: 99%

Exploring 3d gesture metaphors for interaction with unmanned aerial vehicles

Pfeil

Koh

LaViola

2013

Proceedings of the 2013 International Conference on Intelligent User Interfaces

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We present a study exploring upper body 3D spatial interaction metaphors for control and communication with Unmanned Aerial Vehicles (UAV) such as the Parrot AR Drone. We discuss the design and implementation of five interaction techniques using the Microsoft Kinect, based on metaphors inspired by UAVs, to support a variety of flying operations a UAV can perform. Techniques include a first-person interaction metaphor where a user takes a pose like a winged aircraft, a game controller metaphor, where a user's hands mimic the control movements of console joysticks, "proxy" manipulation, where the user imagines manipulating the UAV as if it were in their grasp, and a pointing metaphor in which the user assumes the identity of a monarch and commands the UAV as such. We examine qualitative metrics such as perceived intuition, usability and satisfaction, among others. Our results indicate that novice users appreciate certain 3D spatial techniques over the smartphone application bundled with the AR Drone. We also discuss the trade-offs in the technique design metrics based on results from our study.

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A prototyping environment for interaction between a human and a robotic multi-agent system

Cited by 24 publications

References 4 publications

FollowMe: Person following and gesture recognition with a quadrocopter

FollowMe: Person following and gesture recognition with a quadrocopter

Sphericall: A Human/Artificial Intelligence interaction experience

Exploring 3d gesture metaphors for interaction with unmanned aerial vehicles

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