Micro Aerial Vehicles, or MAVs, exacerbate one of the main challenges faced by unmanned systems: obstacle avoidance. Both teleportation and autonomous solutions have proven to be challenging for a variety of reasons. The basic premise of our approach, which we call Coactive Design, is that the underlying interdependence of the joint activity is the critical design feature, and is used to guide the design of the autonomy and the interface. The key feature of our system is an interface that provides a common frame of reference. It allows a human to mark up a 3D environment on a live video image and provide a corresponding 3D world model. This work demonstrates a unique type of human-machine system that provides a truly collaborative navigation experience.
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