Paper Reading AI Learner

Towards Decentralized Human-Swarm Interaction by Means of Sequential Hand Gesture Recognition

2021-02-04 06:43:14
Zahi Kakish, Sritanay Vedartham, Spring Berman

Abstract

tract: In this work, we present preliminary work on a novel method for Human-Swarm Interaction (HSI) that can be used to change the macroscopic behavior of a swarm of robots with decentralized sensing and control. By integrating a small yet capable hand gesture recognition convolutional neural network (CNN) with the next-generation Robot Operating System \emph{ros2}, which enables decentralized implementation of robot software for multi-robot applications, we demonstrate the feasibility of programming a swarm of robots to recognize and respond to a sequence of hand gestures that capable of correspond to different types of swarm behaviors. We test our approach using a sequence of gestures that modifies the target inter-robot distance in a group of three Turtlebot3 Burger robots in order to prevent robot collisions with obstacles. The approach is validated in three different Gazebo simulation environments and in a physical testbed that reproduces one of the simulated environments.

Abstract (translated)

URL

https://arxiv.org/abs/2102.02439

PDF

https://arxiv.org/pdf/2102.02439


Tags
3D Action Action_Localization Action_Recognition Activity Adversarial Attention Autonomous Bert Boundary_Detection Caption Classification CNN Compressive_Sensing Contour Contrastive_Learning Deep_Learning Denoising Detection Drone Dynamic_Memory_Network Edge_Detection Embedding Emotion Enhancement Face Face_Detection Face_Recognition Facial_Landmark Few-Shot Gait_Recognition GAN Gaze_Estimation Gesture Gradient_Descent Handwriting Human_Parsing Image_Caption Image_Classification Image_Compression Image_Enhancement Image_Generation Image_Matting Image_Retrieval Inference Inpainting Intelligent_Chip Knowledge Knowledge_Graph Language_Model Matching Medical Memory_Networks Multi_Modal Multi_Task NAS NMT Object_Detection Object_Tracking OCR Ontology Optical_Character Optical_Flow Optimization Person_Re-identification Point_Cloud Portrait_Generation Pose Pose_Estimation Prediction QA Quantitative Quantitative_Finance Quantization Re-identification Recognition Recommendation Reconstruction Regularization Reinforcement_Learning Relation Relation_Extraction Represenation Represenation_Learning Restoration Review RNN Salient Scene_Classification Scene_Generation Scene_Parsing Scene_Text Segmentation Self-Supervised Semantic_Instance_Segmentation Semantic_Segmentation Semi_Global Semi_Supervised Sence_graph Sentiment Sentiment_Classification Sketch SLAM Sparse Speech Speech_Recognition Style_Transfer Summarization Super_Resolution Surveillance Survey Text_Classification Text_Generation Tracking Transfer_Learning Transformer Unsupervised Video_Caption Video_Classification Video_Indexing Video_Prediction Video_Retrieval Visual_Relation VQA Weakly_Supervised Zero-Shot