Abstract
This paper presents a formation control approach for contactless gesture-based Human-Swarm Interaction (HSI) between a team of multi-rotor Unmanned Aerial Vehicles (UAVs) and a human worker. The approach is intended for monitoring the safety of human workers, especially those working at heights. In the proposed dynamic formation scheme, one UAV acts as the leader of the formation and is equipped with sensors for human worker detection and gesture recognition. The follower UAVs maintain a predetermined formation relative to the worker's position, thereby providing additional perspectives of the monitored scene. Hand gestures allow the human worker to specify movements and action commands for the UAV team and initiate other mission-related commands without the need for an additional communication channel or specific markers. Together with a novel unified human detection and tracking algorithm, human pose estimation approach and gesture detection pipeline, the proposed approach forms a first instance of an HSI system incorporating all these modules onboard real-world UAVs. Simulations and field experiments with three UAVs and a human worker in a mock-up scenario showcase the effectiveness and responsiveness of the proposed approach.
Abstract (translated)
本文提出了一种多旋翼无人机（UAV）与人类工人之间的非接触式手势交互（HSI）形式控制方法。该方法旨在监测人类工人的安全，特别是那些在高度上工作的人类工人。在拟议的动态编队方案中，一个UAV充当编队领导者，并配备有人体工人检测和手势识别传感器。跟踪UAV相对于工人位置的预设编队，从而提供了额外的场景视角。手势允许人类工人指定无人机的团队运动和动作命令，并发起与任务相关的命令，而无需额外的通信渠道或特定标记。与新颖的统一人体检测和跟踪算法、人体姿势估计方法和手势检测流程相结合，所提出的方案成为了一种车载真实世界UAV的HSI系统的第一个实例。通过模拟和模型场景中的实验，展示了所提出方法的有效性和响应性。
URL
https://arxiv.org/abs/2403.15333
