Human-in-the-loop control of multi-agent aerial systems

摘要

This paper presents a framework for human-in-the-loop control of multi-agent systems (MASs), comprised of different unmanned aerial vehicles (UAVs), with realistic communication channels that give rise to intermittent, corrupted and delayed information. We propose a novel design of a human-machine interface (HMI) that allows a human to become a supervisor, when necessary, instead of a single unit operator. The proposed framework allows the supervisor to interact with its surroundings by deploying a dexterous aerial robot within MASs. Experimental results, presented at the end of the paper, verify functionality of the proposed framework by bringing together a heterogeneous team of aerial robots, each with its particular capabilities, and a human operator in order to close a valve in a disaster stricken industrial environment.