We present the Georgia Tech Miniature Autonomous Blimp(GT-MAB), which is designed to support human-robot interaction experiments in an indoor space for up to two hours. GT-MAB is safe while flying in close proximity t...We present the Georgia Tech Miniature Autonomous Blimp(GT-MAB), which is designed to support human-robot interaction experiments in an indoor space for up to two hours. GT-MAB is safe while flying in close proximity to humans. It is able to detect the face of a human subject, follow the human, and recognize hand gestures. GT-MAB employs a deep neural network based on the single shot multibox detector to jointly detect a human user's face and hands in a real-time video stream collected by the onboard camera. A human-robot interaction procedure is designed and tested with various human users. The learning algorithms recognize two hand waving gestures. The human user does not need to wear any additional tracking device when interacting with the flying blimp. Vision-based feedback controllers are designed to control the blimp to follow the human and fly in one of two distinguishable patterns in response to each of the two hand gestures. The blimp communicates its intentions to the human user by displaying visual symbols. The collected experimental data show that the visual feedback from the blimp in reaction to the human user significantly improves the interactive experience between blimp and human.The demonstrated success of this procedure indicates that GT-MAB could serve as a flying robot that is able to collect human data safely in an indoor environment.展开更多
Micro-sized autonomous underwater vehicles(μAUVs) are well suited to various applications in confined underwater spaces. Acoustic communication is required for many application scenarios of μAUVs to enable data tran...Micro-sized autonomous underwater vehicles(μAUVs) are well suited to various applications in confined underwater spaces. Acoustic communication is required for many application scenarios of μAUVs to enable data transmission without surfacing. This paper presents the integration of a compact acoustic communication device with a μAUV prototype. Packet reception rate(PRR) and bit error rate(BER) of the acoustic communication link are evaluated in a confined pool environment through experiments while the μAUV is either stationary or moving.We pinpoint several major factors that impact the communication performance. Experimental results show that the multi-path effect significantly affects the synchronization signals of the communication device. The relative motion between the vehicle and the base station also degrades the communication performance. These results suggest future methods towards improvements.展开更多
基金Project supported by the Office of Naval Research(Nos.N00014-14-1-0635 and N00014-16-1-2667)the National Science Foundation,U.S.(No.OCE-1559475)+1 种基金the Naval Research Laboratory(No.N0017317-1-G001)the National Oceanic and Atmospheric Administration(No.NA16NOS0120028)
文摘We present the Georgia Tech Miniature Autonomous Blimp(GT-MAB), which is designed to support human-robot interaction experiments in an indoor space for up to two hours. GT-MAB is safe while flying in close proximity to humans. It is able to detect the face of a human subject, follow the human, and recognize hand gestures. GT-MAB employs a deep neural network based on the single shot multibox detector to jointly detect a human user's face and hands in a real-time video stream collected by the onboard camera. A human-robot interaction procedure is designed and tested with various human users. The learning algorithms recognize two hand waving gestures. The human user does not need to wear any additional tracking device when interacting with the flying blimp. Vision-based feedback controllers are designed to control the blimp to follow the human and fly in one of two distinguishable patterns in response to each of the two hand gestures. The blimp communicates its intentions to the human user by displaying visual symbols. The collected experimental data show that the visual feedback from the blimp in reaction to the human user significantly improves the interactive experience between blimp and human.The demonstrated success of this procedure indicates that GT-MAB could serve as a flying robot that is able to collect human data safely in an indoor environment.
基金Project supported by the Office of Naval Research(No.N00014-16-1-2667)the National Natural Science Foundation of China(Nos.61673370 and 11574258)
文摘Micro-sized autonomous underwater vehicles(μAUVs) are well suited to various applications in confined underwater spaces. Acoustic communication is required for many application scenarios of μAUVs to enable data transmission without surfacing. This paper presents the integration of a compact acoustic communication device with a μAUV prototype. Packet reception rate(PRR) and bit error rate(BER) of the acoustic communication link are evaluated in a confined pool environment through experiments while the μAUV is either stationary or moving.We pinpoint several major factors that impact the communication performance. Experimental results show that the multi-path effect significantly affects the synchronization signals of the communication device. The relative motion between the vehicle and the base station also degrades the communication performance. These results suggest future methods towards improvements.
