Abstract
First-person-view (FPV) teleoperation of aerial swarms requires an operator to coordinate collective translation, viewing direction, and formation spacing. We present an upper-body interface that maps torso inclination, hand position, and head rotation to five continuous command dimensions. Neutral postures and motion ranges are calibrated for each participant. In a within-subject study, 14 participants navigated a simulated 15-agent swarm through three-dimensional obstacle courses using this interface and a conventional transmitter. Body-motion control reduced completion time by 19.4% and centroid path length by 7.0%, and increased path directness. Delivered-command variation was 88.8% lower, and concurrent command changes were more frequent. These command measures characterize the complete interfaces, which differed in calibration and filtering. No differences were detected in gate-centering error, collection yield, crash or disconnection counts, overall workload, or usability. All participants reported higher physical demand with body-motion control. The implemented interface therefore improved FPV navigation efficiency at the cost of greater physical demand.
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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Chen, Y., Giannoli, D., & Floreano, D. (2026). Body-Motion Control of a Simulated Aerial Swarm from a First-Person View. https://omanscience.com/en/articles/body-motion-control-of-a-simulated-aerial-swarm-from-a-first-person-view
MLA 9
Chen, Yang, et al. "Body-Motion Control of a Simulated Aerial Swarm from a First-Person View." https://omanscience.com/en/articles/body-motion-control-of-a-simulated-aerial-swarm-from-a-first-person-view.
Chicago (author–date)
Chen, Yang, Darius Giannoli, and Dario Floreano. 2026. "Body-Motion Control of a Simulated Aerial Swarm from a First-Person View." https://omanscience.com/en/articles/body-motion-control-of-a-simulated-aerial-swarm-from-a-first-person-view.
Harvard
Chen, Y., Giannoli, D. and Floreano, D. (2026) 'Body-Motion Control of a Simulated Aerial Swarm from a First-Person View', Available at: https://omanscience.com/en/articles/body-motion-control-of-a-simulated-aerial-swarm-from-a-first-person-view.
Vancouver
Chen Y, Giannoli D, Floreano D. Body-Motion Control of a Simulated Aerial Swarm from a First-Person View. https://omanscience.com/en/articles/body-motion-control-of-a-simulated-aerial-swarm-from-a-first-person-view
IEEE
Y. Chen, D. Giannoli, and D. Floreano, "Body-Motion Control of a Simulated Aerial Swarm from a First-Person View," https://omanscience.com/en/articles/body-motion-control-of-a-simulated-aerial-swarm-from-a-first-person-view.