SwarmTouch: Guiding a Swarm of Micro-Quadrotors with Impedance Control using a Wearable Tactile Interface
| Autor: | Tsykunov, Evgeny, Agishev, Ruslan, Ibrahimov, Roman, Labazanova, Luiza, Tleugazy, Akerke, Tsetserukou, Dzmitry |
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| Rok vydání: | 2019 |
| Předmět: | |
| Zdroj: | IEEE Transactions on Haptics 2019 |
| Druh dokumentu: | Working Paper |
| DOI: | 10.1109/TOH.2019.2927338 |
| Popis: | To achieve a smooth and safe guiding of a drone formation by a human operator, we propose a novel interaction strategy for a human-swarm communication which combines impedance control and vibrotactile feedback. The presented approach takes into account the human hand velocity and changes the formation shape and dynamics accordingly using impedance interlinks simulated between quadrotors, which helps to achieve a natural swarm behavior. Several tactile patterns representing static and dynamic parameters of the swarm are proposed. The user feels the state of the swarm at the fingertips and receives valuable information to improve the controllability of the complex formation. A user study revealed the patterns with high recognition rates. A flight experiment demonstrated the possibility to accurately navigate the formation in a cluttered environment using only tactile feedback. Subjects stated that tactile sensation allows guiding the drone formation through obstacles and makes the human-swarm communication more interactive. The proposed technology can potentially have a strong impact on the human-swarm interaction, providing a higher level of awareness during the swarm navigation. Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works |
| Databáze: | arXiv |
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