Serpiva, Valerii (Skolkovo Institute of Science and Technology), Karmanova, Ekaterina (Skolkovo Institute of Science and Technology), Fedoseev, Aleksey (Skolkovo Institute of Science and Technology), Perminov, Stepan (Skolkovo Institute of Science and Technology), Tsetserukou, Dzmitry (Skolkovo Institute of Science and Technology)

SwarmPaint: Human-Swarm Interaction for Trajectory Generation and Formation Control by DNN-Based Gesture Interface

Scheduled for presentation during the Regular Session "UAS Applications IV" (FrA4), Friday, June 18, 2021, 09:20−09:40, Naoussa

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

Teleoperation tasks with multi-agent systems have a high potential in supporting human-swarm collaborative teams in exploration and rescue operations. However, it requires an intuitive and adaptive control approach to ensure swarm stability in a cluttered and dynamically shifting environment. We propose a novel human-swarm interaction system, allowing the user to control swarm position and formation by either direct hand motion or by trajectory drawing with a hand gesture interface based on the DNN gesture recognition.

The key technology of the SwarmPaint is the user's ability to perform various tasks with the swarm without additional devices by switching between interaction modes. Two types of interaction were proposed and developed to adjust a swarm behavior: free-form trajectory generation control and shaped formation control.

The experimental results revealed a sufficient accuracy in the trajectory tracing task (Mean error of 5.6 cm by gesture draw and 3.1 cm by mouse draw with the pattern of 1 m) over three evaluated trajectory patterns and up to 7.3 cm accuracy in targeting task with two target patterns of 1 m achieved by SwarmPaint interface.

Therefore, the proposed SwarmPaint technology can be potentially applied in various human-swarm scenarios, including complex environment exploration, dynamic lighting generation, and interactive drone shows, allowing users to actively participate in the swarm behavior decision on a different scale of control.