A Kinect-based natural interface for formation flight of quadrotors

This paper focuses on the implementation of algorithms for formation flight of quadrotors via teleoperation system. These algorithms of navigation are based on the human gestures using a Kinect sensor. The human gestures act as reference signals in the control loop during the real-time flights. In order to test the performance and feasibility of the developed platform, experimental tests are carried out for indoor of multiple quadrotors with manual movements and with waypoints based on SE(3) geometric navigation for autonomous flights. Real-time experiments of the flights present an acceptable performance of the proposed algorithms.