Exploring user-defined gestures to control a group of four UAVs

We present the results of an elicitation study exploring gestures that novice users find intuitive for controlling a group of four Unmanned Aerial Vehicles (UAVs). Particularly, we focus on group commands for (1) spatial distribution of the operated UAVs, (2) selection of the required UAV(s), and (3) their formation control. To elicit user-defined gestures, we conducted interview sessions in which we animated the considered commands with a 3D simulator. We identified commonalities in users' behavior and then used them to create the final input vocabulary. By using the concept of mental models we achieved coherence among the vocabulary entries.