[2605.21680] Flying Together: Human-Guided Immersive Shared Control for Aerial Robot Teams in Unknown Environments
[Submitted on 20 May 2026]
Title:Flying Together: Human-Guided Immersive Shared Control for Aerial Robot Teams in Unknown Environments
View a PDF of the paper titled Flying Together: Human-Guided Immersive Shared Control for Aerial Robot Teams in Unknown Environments, by Lou De Bel-Air and 8 other authors
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Abstract:While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based shared control framework for teams of drones operating in constrained and unknown environments, enabling real-time, user-guided exploration. At the core of our approach is a novel, user-guided motion-primitive-based planner that computes continuous, collision-free trajectories while continuously integrating operator input. This planner is coupled with an admittance controller, allowing the operator to flexibly influence team behavior and guide drones toward regions of interest that autonomous planners may overlook. The system supports mixed-reality operations with both physical and simulated drones, and implements a bilateral VR-based interface, allowing the operator to guide the robot team via migration points while receiving immediate visual feedback of the team state. Experimental results show that shared control improves obstacle avoidance, maintains inter-agent spacing, and reduces operator effort, demonstrating the feasibility and advantages of immersive, human-in-the-loop multi-robot navigation.
Comments: Accepted at IEEE International Conference in Robotics and Automation, Vienna 2026
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2605.21680 [cs.RO]
(or arXiv:2605.21680v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.21680
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Luca Morando Dr. [view email] [v1] Wed, 20 May 2026 19:37:46 UTC (4,363 KB)
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