面向安全监测应用中的人机群交互的受手势控制的空中机器人编队
Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction in Safety Monitoring Applications
AI总结：
本文提出一种基于手势的非接触式人机群交互编队控制方法，通过领导者-跟随者无人机编队监测高处作业工人安全，并结合人体检测跟踪、位置估计和手势检测模块，在真实无人机上首次实现完整HSI系统并验证其有效性。
摘要：
本文提出了一种用于多旋翼无人机（UAV）团队与人类工人之间基于非接触式手势的人机群交互（HSI）的编队控制方法。该方法旨在监测人类工人的安全，特别是那些在高处作业的工人。在所提出的动态编队方案中，一架无人机充当编队领导者，配备传感器用于检测人类工人和识别手势。跟随无人机相对于工人的位置保持预定编队，提供被监测场景的额外视角。手势使人类工人能够为无人机团队指定移动和动作命令，并启动其他与任务相关的任务，而无需额外的通信信道或特定标记。结合一种新颖的统一人体检测与跟踪算法、一种人体位置估计方法和一种手势检测流水线，所提出的方法代表了在真实无人机上搭载所有这些模块的HSI系统的首个实例。涉及三架无人机和一名人类工人在模拟场景中的仿真和现场实验证明了所提出方法的有效性和响应能力。
英文摘要：
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 designed to monitor the safety of human workers, particularly those operating at heights. In the proposed dynamic formation scheme, one UAV acts as the formation leader, equipped with sensors for detecting human workers and recognizing gestures. The follower UAVs maintain a predetermined formation relative to the worker's position, providing additional perspectives of the monitored scene. Hand gestures enable the human worker to specify movement and action commands for the UAV team and to initiate other mission-related tasks without requiring additional communication channels or specific markers. Combined with a novel unified human detection and tracking algorithm, a human position estimation method, and a gesture detection pipeline, the proposed approach represents the first instance of an HSI system incorporating all these modules onboard real-world UAVs. Simulations and field experiments involving three UAVs and a human worker in a mock-up scenario demonstrate the effectiveness and responsiveness of the proposed approach.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
