Autonomous flying blimp interaction with human in an indoor space

Yao, Ningshi; Tao, Qiuyang; Liu, Wei-yu; Liu, Zhen; Tian, Ye; Wang, Peiyu; Li, Timothy; Zhang, Fumin

doi:10.1631/fitee.1800587

“…1), and a description of the most relevant works will be provided: due to space limitation, we will only describe the most representative papers of the specific category, selected based on number of citations and publication venue. We will analyze how perceived safety in pHRI has been studied for industrial manipulators , mobile robots [46][47][48][49][50][51][52][53][54][55][56][57][58], mobile manipulators [59][60][61][62][63][64][65], humanoid robots , drones [100][101][102][103][104][105][106][107][108][109][110][111][112][113][114][115], and self-driving cars [116][117][118][119][120][121][122][123][124][125]…”

Section: Paper Contribution Method and Organizationmentioning

confidence: 99%

“…The following UAVs were utilized by the studies discussed in this section: AIR-Robot-100B [100], DJI Phantom 2 [101,102] and 3 [105,111], Parrot Bebop [103] and 2 [113], Parrot AR.Drone [101,108,109] and 2 [115], AscTec Hummingbird [106], and Georgia Tech Miniature Autonomous Blimp [114]. There were also works evaluating simulated drones with the help of the HTC Vive VR headset [107] and the Cave Automatic Virtual Environment (CAVE) setup [104].…”

Section: Overview Of Work On Dronesmentioning

confidence: 99%

Perceived Safety in Physical Human Robot Interaction -- A Survey

Rubagotti¹,

Tusseyeva²,

Baltabayeva³

et al. 2021

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This review paper focuses on different aspects of perceived safety for a number of autonomous physical systems. This is a major aspect of robotics research, as more and more applications allow human and autonomous systems to share their space, with crucial implications both on safety and on its perception. The alternative terms used to express related concepts (e.g., psychological safety, trust, comfort, stress, fear, and anxiety) are listed and explained. Then, the available methods to assess perceived safety (i.e., questionnaires, physiological measurements, behavioral assessment, and direct input devices) are described. Six categories of autonomous systems are considered (industrial manipulators, mobile robots, mobile manipulators, humanoid robots, drones, and autonomous vehicles), providing an overview of the main themes related to perceived safety in the specific domain, a description of selected works, and an analysis of how motion and characteristics of the system influence the perception of safety. The survey also discusses experimental duration and location of the reviewed papers as well as identified trends over time.

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“…The GT-MAB is well-suited for carrying out HRI experiments, which require sustained airborne presence to perform repetitive missions. Previous works on GT-MAB have been focused on its dynamics, motion control [14][15][16], and vision-based interaction with human [17,18]. This paper investigates the interactions between a human and the GT-MAB in close proximity, taking advantage of the safety and extended flight time.…”

Section: Introductionmentioning

confidence: 99%

Human Pointing Motion during Interaction with an Autonomous Blimp

Hou

¹

,

Tao

²

,

Zhang

³

2022

Preprint

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We investigate the interaction between a human and a miniature autonomous blimp using a wand as pointing device. The wand movement generated by the human is followed by the blimp through a tracking controller.The Vector Integration to Endpoint (VITE) model, previously applied to human-computer interface (HCI), has been applied to model the human generated wand movement when interacting with the blimp. We show that the closed-loop human-blimp dynamics are exponentially stable. Similar to HCI using computer mouse, overshoot motion of the blimp has been observed. The VITE model can be viewed as a special reset controller used by the human to generate wand movements that effectively reduce the overshoot of blimp motion. Moreover, we have observed undershoot motion of the blimp due to its inertia, which does not appear in HCI using computer mouse. The asymptotic stability of the human-blimp dynamics is beneficial towards tolerating the undershoot motion of the blimp.

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“…Therefore, its endurance can be several magnitudes longer than that of a heavier-than-air UAV 13 . Hence GT-MAB is well-suited for carrying out HRI experiments, which often requires the UAV to operate in close proximity to human, and also desires sustained airborne presence to perform repetitive missions [14][15][16][17][18] .…”

Section: Introductionmentioning

confidence: 99%

Human Pointing Motion during Interaction with an Autonomous Blimp

Hou

¹

,

Tao

²

,

Zhang

³

2022

Preprint

Self Cite

0

View full text Add to dashboard Cite

We investigate the interaction between a human and a miniature autonomous blimp using a wand as pointing device. The wand movement generated by the human is followed by the blimp through a tracking controller.The Vector Integration to Endpoint (VITE) model, previously applied to human-computer interface (HCI), has been applied to model the human generated wand movement when interacting with the blimp. We show that the closed-loop human-blimp dynamics are exponentially stable. Similar to HCI using computer mouse, overshoot motion of the blimp has been observed. The VITE model can be viewed as a special reset controller used by the human to generate wand movements that effectively reduce the overshoot of blimp motion. Moreover, we have observed undershoot motion of the blimp due to its inertia, which does not appear in HCI using computer mouse. The asymptotic stability of the human-blimp dynamics is beneficial towards tolerating the undershoot motion of the blimp.

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Autonomous flying blimp interaction with human in an indoor space

Cited by 23 publications

References 11 publications

Perceived Safety in Physical Human Robot Interaction -- A Survey

Perceived Safety in Physical Human Robot Interaction -- A Survey

Human Pointing Motion during Interaction with an Autonomous Blimp

Human Pointing Motion during Interaction with an Autonomous Blimp

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