Vít Krátký presents Gesture-Controlled Aerial Robot Formation for Human-Swarm Interaction
On 2025-08-14 11:00:00 at E112, Karlovo náměstí 13, Praha 2
As aerial robotic systems become increasingly integrated into field operations,
enabling intuitive and contactless control mechanisms is crucial for real-world
deployment. This seminar will present our recent work on a gesture-based
formation control approach for human-swarm interaction, enabling a human worker
to interact with a team of multi-rotor UAVs without physical markers or
additional communication devices. The proposed approach uses one UAV as a
sensor-rich formation leader capable of detecting and interpreting human
gestures, while additional follower UAVs maintain a coordinated formation to
provide complementary perspectives of the monitored scene. Combined with a
unified human detection and tracking algorithm, a human position estimation
method, and a gesture detection pipeline, the proposed approach represents the
first instance of a human-swarm interaction system incorporating all these
modules onboard real-world UAVs. In this talk, we will detail the system's
components, present the method’s performance, and discuss its limitations, as
well as the specific challenges of a human-robot interaction in safety
monitoring scenarios, as learned through real-world deployment of the proposed
system.
The seminar will be held in a short format of 20 minutes + 10 minutes Q&A.
References:
[1] V. Krátký, G. Silano, M. Vrba, C. Papaioannidis, I. Mademlis, R.
Pěnička, I. Pitas, M. Saska, "Gesture-Controlled Aerial Robot Formation for
Human-Swarm Interaction in Safety Monitoring Applications," in IEEE Robotics and
Automation Letters, vol. 10, no. 8, pp. 8244-8251, Aug. 2025, doi:
10.1109/LRA.2025.3583607.
[2] A. Ollero et al., "Multi-Aerial Robotic System for Power Line Inspection and
Maintenance: Comparative Analysis From the AERIAL-CORE Final Experiments," in
IEEE Transactions on Field Robotics, vol. 2, pp. 549-573, 2025, doi:
10.1109/TFR.2025.3586991.
Paper: https://ieeexplore.ieee.org/document/11051238
Video: https://youtu.be/ffuKVJcp0A4?si=6GEFy90kp5yv-Mky
enabling intuitive and contactless control mechanisms is crucial for real-world
deployment. This seminar will present our recent work on a gesture-based
formation control approach for human-swarm interaction, enabling a human worker
to interact with a team of multi-rotor UAVs without physical markers or
additional communication devices. The proposed approach uses one UAV as a
sensor-rich formation leader capable of detecting and interpreting human
gestures, while additional follower UAVs maintain a coordinated formation to
provide complementary perspectives of the monitored scene. Combined with a
unified human detection and tracking algorithm, a human position estimation
method, and a gesture detection pipeline, the proposed approach represents the
first instance of a human-swarm interaction system incorporating all these
modules onboard real-world UAVs. In this talk, we will detail the system's
components, present the method’s performance, and discuss its limitations, as
well as the specific challenges of a human-robot interaction in safety
monitoring scenarios, as learned through real-world deployment of the proposed
system.
The seminar will be held in a short format of 20 minutes + 10 minutes Q&A.
References:
[1] V. Krátký, G. Silano, M. Vrba, C. Papaioannidis, I. Mademlis, R.
Pěnička, I. Pitas, M. Saska, "Gesture-Controlled Aerial Robot Formation for
Human-Swarm Interaction in Safety Monitoring Applications," in IEEE Robotics and
Automation Letters, vol. 10, no. 8, pp. 8244-8251, Aug. 2025, doi:
10.1109/LRA.2025.3583607.
[2] A. Ollero et al., "Multi-Aerial Robotic System for Power Line Inspection and
Maintenance: Comparative Analysis From the AERIAL-CORE Final Experiments," in
IEEE Transactions on Field Robotics, vol. 2, pp. 549-573, 2025, doi:
10.1109/TFR.2025.3586991.
Paper: https://ieeexplore.ieee.org/document/11051238
Video: https://youtu.be/ffuKVJcp0A4?si=6GEFy90kp5yv-Mky