Collaborative exploration with a micro aerial vehicle: A novel interaction method for controlling a MAV with a hand-held device


Journal Article

In order to collaboratively explore an environment with a Micro Aerial Vehicle (MAV), an operator needs a mobile interface, which can support the operator's divided attention. To this end, we developed the Micro Aerial Vehicle Exploration of an Unknown Environment (MAV-VUE) interface, which allows operators with minimal training the ability to remotely explore their environment with a MAV. MAV-VUE employs a concept we term Perceived First-Order (PFO) control, which allows an operator to effectively fly a MAV with no risk to the vehicle. PFO control utilizes a position feedback control loop to fly the MAV while presenting rate feedback to the operator. A usability study was conducted to evaluate MAV-VUE. This interface was connected remotely to an actual MAV to explore a GPS-simulated urban environment. © 2012 David Pitman and Mary L. Cummings.

Full Text

Duke Authors

Cited Authors

  • Pitman, D; Cummings, ML

Published Date

  • September 18, 2012

Published In

Volume / Issue

  • 2012 /

Electronic International Standard Serial Number (EISSN)

  • 1687-5907

International Standard Serial Number (ISSN)

  • 1687-5893

Digital Object Identifier (DOI)

  • 10.1155/2012/768180

Citation Source

  • Scopus