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We present the first demonstration of end-to-end far-to-near situated interaction between an uninstrumented human user and an initially distant outdoor autonomous Unmanned Aerial Vehicle (UAV). The user uses an arm-waving gesture as a signal to attract the UAV's attention from a distance. Once this signal is detected, the UAV approaches the user using appearance-based tracking until it is close enough...
We present the first demonstration of establishing mutual attention between an outdoor UAV in autonomous normal flight and an uninstrumented human user. We use the familiar periodic waving gesture as a signal to attract the UAV's attention. The UAV can discriminate this gesture from human walking and running that appears similarly periodic. Once a signaling person is observed and tracked, the UAV...
Extending our previous work in real-time vision-based Human Robot Interaction (HRI) with multi-robot systems, we present the first example of creating, modifying and commanding teams of UAVs by an uninstrumented human. To create a team the user focuses attention on an individual robot by simply looking at it, then adds or removes it from the current team with a motion-based hand gesture. Another gesture...
We present a multimodal system for creating, modifying and commanding groups of robots from a population. Extending our previous work on selecting an individual robot from a population by face engagement, we show that we can dynamically create groups of a desired number of robots by speaking the number we desire, e.g. “You three”, and looking at the robots we intend to form the group. We evaluate...
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