SwarmCloak: Landing of a Swarm of Nano-Quadrotors on Human Arms

Abstract

Figure 1: (a) Human operator lands four drones using landing pads, (b) hand-based landing pad, (c) sensor-vibrator unit. ABSTRACTWe propose a novel system SwarmCloak for landing of a fleet of four flying robots on the human arms using light-sensitive landing pads with vibrotactile feedback. We developed two types of wearable tactile displays with vibromotors which are activated by the light emitted from the LED array at the bottom of quadcopters. In a user study, participants were asked to adjust the position of the arms to land up to two drones, having only visual feedback, only tactile feedback or visual-tactile feedback. The experiment revealed that when the number of drones increases, tactile feedback plays a more important role in accurate landing and operator's convenience. An important finding is that the best landing performance is achieved with the combination of tactile and visual feedback. The proposed technology could have a strong impact on the human-swarm interaction, providing a new level of intuitiveness and engagement into the swarm deployment just right from the skin surface. CCS CONCEPTS• Human-computer interaction → Interaction devices.

İnsan-İHA Etkileşimi İçin Giyilebilir Eldiven Hareketlerinin Sınıflandırılması ve Analizi

“…Bu model için İnsan-İHA etkileşimi algoritması gerçekleştirilmiştir. Evgeny Tsykunov [5,6], çalışmasında insan kollarına bağlı ve ışığa duyarlı 4 adet iniş pedi kullanılarak uçan robot filosunun iniş yapabilmelerini sağlayan akıllı alan sistemi geliştirmiştir. İki çeşit giyilebilir ve dokunsal ekran ile quadrocopterlerin altında bulunan ledlerden yayılan ışık sayesinde vibro motorlar çalıştırılmaktadır.…”

An Intelligent Human–Unmanned Aerial Vehicle Interaction Approach in Real Time Based on Machine Learning Using Wearable Gloves

“…Unmanned airborne systems (UASs), especially small unmanned airborne systems (S-UASs), are used in military reconnaissance, search, and intelligence work in areas that are not safe for humans, as well as in remote sensing areas; data collection is used due to its data storage, analysis, and decision capabilities [ 9 ]. Work performed in areas that are not safe for humans and difficult to access can be performed thanks to human–UAV interactions [ 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 ]. One of the areas where human UAV–interactions are used is computer-vision-based hand gesture recognition applications, which enable users to determine hand gestures using pattern recognition algorithms [ 23 , 24 , 25 , 26 , 27 , 28 , 29 ].…”

“…In a large-scale damaged transmission network, it is important to use unmanned aerial vehicles (UAVs) to investigate preliminary unexpected/unidentified failures [ 13 ]. As UAVs can work alone or move in a herd, they have achieved successful results in challenging missions [ 11 , 29 ]. Work that needs to be performed in unsafe and difficult-to-access areas can now be done using human–UAV interactions [ 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 , 43 ].…”

“…Human–UAV interactions are only used for information exchange in some applications, while some applications employ physical contact or force exchange. As can be seen in Figure 1 , this interaction can be performed using a software interface alone or by using physical [ 11 ], tactile [ 12 ], auditory [ 44 ], and human kinetics techniques or creating a specific rule table [ 20 , 21 , 22 , 23 ].…”

DroneTrap: Drone Catching in Midair by Soft Robotic Hand with Color-Based Force Detection and Hand Gesture Recognition

“…Most accidents of Unmanned Aerial Vehicle (UAV) happen during landing, specifically in high winds or when the terrain is uneven. The concept of landing the swarm on drones on the arms of the human for fast and safe deployment is proposed in [1]. However, it is expected that drones will be able to safely land in autonomous mode.…”