通过混合现实在未知环境中实现直观的人机协同导航
Intuitive Human-Drone Collaborative Navigation in Unknown Environments through Mixed Reality
AI总结：
本文提出一种基于混合现实的人机接口，通过HMD共享空间信息，在未知环境中实现超越传统遥控的直观安全协同导航，并在模拟灾后场景中验证其优于FPV控制。
摘要：
考虑到空中机器人在巡检、搜索救援和监测任务中的广泛集成，设计直观的人机接口的需求日益增长。这些接口旨在简化和增强无人机导航过程中的用户交互与协作，最终加快任务成功并适应用户输入。在本文中，我们提出了一种新颖的人机混合现实接口，其目标是：(a) 通过在佩戴头戴式显示器（HMD）的人与机器人之间共享相关空间信息和表示，提高人机空间感知能力；(b) 在未知环境中实现更安全、更直观的人机交互式协同导航，超越简单的命令控制或遥操作范式。我们通过在模拟灾后场景中进行广泛的用户研究和实验来验证我们的框架，并将其性能与传统的第一人称视角（FPV）控制系统进行比较。此外，对多名用户进行的多项测试凸显了所提方案的优势，该方案提供了与系统直观且自然的交互。这表明该解决方案能够在无人机导航任务中辅助人类，确保其安全有效地执行。
英文摘要：
Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces. These aim to streamline and enhance the user interaction and collaboration process during drone navigation, ultimately expediting mission success and accommodating users' inputs. In this paper, we present a novel human-drone mixed reality interface that aims to (a) increase human-drone spatial awareness by sharing relevant spatial information and representations between the human equipped with a Head Mounted Display (HMD) and the robot and (b) enable safer and intuitive human-drone interactive and collaborative navigation in unknown environments beyond the simple command and control or teleoperation paradigm. We validate our framework through extensive user studies and experiments in a simulated post-disaster scenario, comparing its performance against a traditional First-Person View (FPV) control systems. Furthermore, multiple tests on several users underscore the advantages of the proposed solution, which offers intuitive and natural interaction with the system. This demonstrates the solution's ability to assist humans during a drone navigation mission, ensuring its safe and effective execution.
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。
