Yang Chen, Hamed Alimohammadzadeh, Shahram Ghandeharizadeh, Heather Culbertson
Key requirements of physical human-drone interactions are that the system is stable, safe, and expressive. The user should be free to interact with the drone in 3D space, and the drone should react appropriately and stably to the physical touch from the user. These requirements are necessary for both single-drone interactions and even more so for the interactions with swarms required to realize a holodeck. The majority of previous physical human-drone interaction systems that have been created use a simple PID controller. Our prior work has shown that these PID controllers are effective at vertical interactions but can quickly become during lateral interactions. However, recent control strategies, such as nonlinear model predictive control (NMPC) and incremental nonlinear dynamic inversion control (INDI) showed improvement in performance in agile flight and handling uncertainties. In this paper, we present the lessons learned from our prior work and discuss implications of these advancements and limitations for physical human-drone interaction. We speculate on how the integration of these advanced control strategies could overcome current limitations, enhancing interaction capabilities. We conclude with suggestions for future research directions, including the exploration of new adaptive methods and their potential integration into human-drone interaction frameworks.
{"title":"Towards a Stable 3D Physical Human-Drone Interaction","authors":"Yang Chen, Hamed Alimohammadzadeh, Shahram Ghandeharizadeh, Heather Culbertson","doi":"10.61981/zfsh2308","DOIUrl":"https://doi.org/10.61981/zfsh2308","url":null,"abstract":"Key requirements of physical human-drone interactions are that the system is stable, safe, and expressive. The user should be free to interact with the drone in 3D space, and the drone should react appropriately and stably to the physical touch from the user. These requirements are necessary for both single-drone interactions and even more so for the interactions with swarms required to realize a holodeck. The majority of previous physical human-drone interaction systems that have been created use a simple PID controller. Our prior work has shown that these PID controllers are effective at vertical interactions but can quickly become during lateral interactions. However, recent control strategies, such as nonlinear model predictive control (NMPC) and incremental nonlinear dynamic inversion control (INDI) showed improvement in performance in agile flight and handling uncertainties. In this paper, we present the lessons learned from our prior work and discuss implications of these advancements and limitations for physical human-drone interaction. We speculate on how the integration of these advanced control strategies could overcome current limitations, enhancing interaction capabilities. We conclude with suggestions for future research directions, including the exploration of new adaptive methods and their potential integration into human-drone interaction frameworks.","PeriodicalId":507156,"journal":{"name":"First International Conference on Holodecks","volume":"321 20","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139177820","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The Flying Light Speck (FLS) is a compact drone designed with versatile light sources that emit diverse colors and textures, offering adjustable brightness levels. This technology plays a crucial role in realizing the concept of holodecks, where a collective swarm of FLS units collaborates to provide illumination through algorithmic operations and seamless real-time information exchange. This necessitates a proper physical link (PHY) among the FLS drones, imposing stringent requirements on the network infrastructure. This paper presents the essential requirements, explores various technologies suitable for establishing the physical links, and proposes a comprehensive evaluation plan to compare and assess the candidates.
{"title":"Enabling Physical Link for Flying Light Specks","authors":"Zhaowei Tan","doi":"10.61981/zfsh2306","DOIUrl":"https://doi.org/10.61981/zfsh2306","url":null,"abstract":"The Flying Light Speck (FLS) is a compact drone designed with versatile light sources that emit diverse colors and textures, offering adjustable brightness levels. This technology plays a crucial role in realizing the concept of holodecks, where a collective swarm of FLS units collaborates to provide illumination through algorithmic operations and seamless real-time information exchange. This necessitates a proper physical link (PHY) among the FLS drones, imposing stringent requirements on the network infrastructure. This paper presents the essential requirements, explores various technologies suitable for establishing the physical links, and proposes a comprehensive evaluation plan to compare and assess the candidates.","PeriodicalId":507156,"journal":{"name":"First International Conference on Holodecks","volume":"157 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139178172","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Nima Yazdani, Hamed Alimohammadzadeh, Shahram Ghandeharizadeh
A Flying Light Speck, FLS, is a miniature sized drone configured with light sources to illuminate 3D multimedia objects in a fixed volume, an FLS display. A swarm of FLSs may provide haptic interactions by exerting force back at a user's touch. This paper presents a conceptual model for the multimedia data to enable content-based queries. The model empowers users of an FLS display to annotate the illuminations by adding semantics to the data, extending a multimedia repository with information and knowledge. We present a core conceptual model and demonstrate its extensions for two diverse applications, authoring tools with entertainment and MRI scans with healthcare.
{"title":"A Conceptual Model of Intelligent Multimedia Data Rendered using Flying Light Specks","authors":"Nima Yazdani, Hamed Alimohammadzadeh, Shahram Ghandeharizadeh","doi":"10.61981/zfsh2309","DOIUrl":"https://doi.org/10.61981/zfsh2309","url":null,"abstract":"A Flying Light Speck, FLS, is a miniature sized drone configured with light sources to illuminate 3D multimedia objects in a fixed volume, an FLS display. A swarm of FLSs may provide haptic interactions by exerting force back at a user's touch. This paper presents a conceptual model for the multimedia data to enable content-based queries. The model empowers users of an FLS display to annotate the illuminations by adding semantics to the data, extending a multimedia repository with information and knowledge. We present a core conceptual model and demonstrate its extensions for two diverse applications, authoring tools with entertainment and MRI scans with healthcare.","PeriodicalId":507156,"journal":{"name":"First International Conference on Holodecks","volume":"420 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139177284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Enabling an interactive 3D holodeck poses significant challenges in the networking of thw swarm, due to the density and latency requirements. In this paper, we envision an orchestration mechanism using visible light communication and dynamic clustering for actuation.
由于密度和延迟要求，实现交互式 3D holodeck 对蜂群联网提出了巨大挑战。在本文中，我们设想了一种使用可见光通信和动态集群来执行的协调机制。
{"title":"Orchestrating an Interactive 3D Holodeck","authors":"Hang Qiu","doi":"10.61981/zfsh2307","DOIUrl":"https://doi.org/10.61981/zfsh2307","url":null,"abstract":"Enabling an interactive 3D holodeck poses significant challenges in the networking of thw swarm, due to the density and latency requirements. In this paper, we envision an orchestration mechanism using visible light communication and dynamic clustering for actuation.","PeriodicalId":507156,"journal":{"name":"First International Conference on Holodecks","volume":"366 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139177307","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper provides a preliminary overview of different forms of reality, comparing and contrasting them with one another. It argues the definition of the term "reality" is ambiguous. This motivates an internalization of elements from a technology standpoint, e.g., biological, 3D printed, Flying Light Speck illuminations, etc.
{"title":"Virtual Reality, Augmented Reality, Mixed Reality, Holograms and Holodecks","authors":"Shahram Ghandeharizadeh, Vincent Oria","doi":"10.61981/zfsh2304","DOIUrl":"https://doi.org/10.61981/zfsh2304","url":null,"abstract":"This paper provides a preliminary overview of different forms of reality, comparing and contrasting them with one another. It argues the definition of the term \"reality\" is ambiguous. This motivates an internalization of elements from a technology standpoint, e.g., biological, 3D printed, Flying Light Speck illuminations, etc.","PeriodicalId":507156,"journal":{"name":"First International Conference on Holodecks","volume":"70 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139178560","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We present flight patterns for a collision-free passage of swarms of drones through one or more openings. The narrow openings provide drones with access to an infrastructure component such as charging stations to charge their depleted batteries and hangars for storage. The flight patterns are a staging area (queues) that match the rate at which an infrastructure component and its openings process drones. They prevent collisions and may implement different policies that control the order in which drones pass through an opening. We illustrate the flight patterns with a 3D display that uses drones configured with light sources to illuminate shapes.
我们介绍了无人机群通过一个或多个开口时的无碰撞飞行模式。狭窄的开口为无人机提供了进入基础设施组件的通道，例如为耗尽电池充电的充电站和用于存储的机库。飞行模式是一个中转区（队列），与基础设施组件及其开口处理无人机的速度相匹配。它们可防止碰撞，并可实施不同的策略来控制无人机通过开口的顺序。我们用一个 3D 显示屏来说明飞行模式，该显示屏使用配置了光源的无人机来照亮形状。
{"title":"Flight Patterns for Swarms of Drones","authors":"Shuqin Zhu, Shahram Ghandeharizadeh","doi":"10.61981/zfsh2303","DOIUrl":"https://doi.org/10.61981/zfsh2303","url":null,"abstract":"We present flight patterns for a collision-free passage of swarms of drones through one or more openings. The narrow openings provide drones with access to an infrastructure component such as charging stations to charge their depleted batteries and hangars for storage. The flight patterns are a staging area (queues) that match the rate at which an infrastructure component and its openings process drones. They prevent collisions and may implement different policies that control the order in which drones pass through an opening. We illustrate the flight patterns with a 3D display that uses drones configured with light sources to illuminate shapes.","PeriodicalId":507156,"journal":{"name":"First International Conference on Holodecks","volume":"118 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139178342","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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