研究无人机与人共处时的安全距离，划分可飞行区域。
Mapping Safe Zones for Co-located Human-UAV Interaction
- 通过实验确定单/多无人机的舒适距离边界。
- 单机安全距离超300cm，双机需保持400cm以上。
- 适合人机交互、无人机配送等场景的规划参考。
机器人技术的发展使人类与机器人共享个人空间成为可能，但尚不清楚共处时无人机与人体之间的最小安全距离是多少。本研究旨在绘制共处空中机器人的安全与舒适区域。通过招募18名参与者，在室内实验室开展两项实验：一项为单架无人机，另一项为两架无人机。结果表明，多架无人机在近距离接近时引发的不适感强于单架无人机。实验发现，距离小于200厘米时产生不适，中等飞行区为200-300厘米，安全飞行区为大于300厘米。在多机实验中，安全区域被推远100厘米，即需保持400厘米以上。本文呈现了多无人机共处时安全飞行区的初步成果。后续工作将探索更多无人机数量、接近速度、飞行方向及噪声水平的影响，并自主构建共处空中集群的信任与安全区域三维模型。
原文摘要 · Abstract (English)
Recent advances in robotics bring us closer to the reality of living, co-habiting, and sharing personal spaces with robots. However, it is not clear how close a co-located robot can be to a human in a shared environment without making the human uncomfortable or anxious. This research aims to map safe and comfortable zones for co-located aerial robots. The objective is to identify the distances at which a drone causes discomfort to a co-located human and to create a map showing no-fly, moderate-fly, and safe-fly zones. We recruited a total of 18 participants and conducted two indoor laboratory experiments, one with a single drone and the other set with two drones. Our results show that multiple drones cause more discomfort when close to a co-located human than a single drone. We observed that distances below 200 cm caused discomfort, the moderate fly zone was 200 - 300 cm, and the safe-fly zone was any distance greater than 300 cm in single drone experiments. The safe zones were pushed further away by 100 cm for the multiple drone experiments. In this paper, we present the preliminary findings on safe-fly zones for multiple drones. Further work would investigate the impact of a higher number of aerial robots, the speed of approach, direction of travel, and noise level on co-located humans, and autonomously develop 3D models of trust zones and safe zones for co-located aerial swarms.
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