A Control Architecture for Multiple Drones Operated via Multimodal Interaction in Search & Rescue Mission

An architecture suitable for the control of multiple unmanned aerial vehicles deployed in Search & Rescue missions is presented in this paper. In the proposed system, a single co-located human operator is able to coordinate the actions of a set of robots in order to retrieve relevant information of the environment. This work is framed in the context of the SHERPA project whose goal is to develop a mixed ground and aerial robotic platform to support search and rescue activities in alpine scenario. Differently from typical human-drone interaction settings, here the operator is not fully dedicated to the drones, but involved in search and rescue tasks, hence only able to provide sparse and incomplete instructions to the robots. In this work, the domain, the interaction framework and the executive system for the autonomous action execution are discussed. The overall system has been tested in a real world mission with two drones equipped with on-board cameras