SwarmTouch: Tactile Interaction of Human with Impedance Controlled Swarm of Nano-Quadrotors

E. Tsykunov, L. Labazanova, A. Tleugazy, D. Tsetserukou

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    13 Citations (Scopus)

    Abstract

    We propose a novel interaction strategy for a human-swarm communication when a human operator guides a formation of quadrotors with impedance control and receives 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 life-like swarm behavior. Experimental results with Crazyflie 2.0 quadrotor platform validate the proposed control algorithm. The tactile patterns representing dynamics of the swarm (extension or contraction) are proposed. The user feels the state of the swarm at his fingertips and receives valuable information to improve the controllability of the complex life-like formation. The user study revealed the patterns with high recognition rates. Subjects stated that tactile sensation improves the ability to guide the drone formation and makes the human-swarm communication much more interactive. The proposed technology can potentially have a strong impact on the human-swarm interaction, providing a new level of intuitiveness and immersion into the swarm navigation.

    Original languageEnglish
    Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages4204-4209
    Number of pages6
    ISBN (Electronic)9781538680940
    DOIs
    Publication statusPublished - 27 Dec 2018
    Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
    Duration: 1 Oct 20185 Oct 2018

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems
    ISSN (Print)2153-0858
    ISSN (Electronic)2153-0866

    Conference

    Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
    Country/TerritorySpain
    CityMadrid
    Period1/10/185/10/18

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