Collaborative Exploration with a Micro Aerial Vehicle: A Novel Interaction Method for Controlling a MAV with a Hand-Held Device

<table>Diagram of perceived first-order control. Delays and lags are represented by <svg height="6.8874998" id="M5" style="vertical-align:-0.0627pt" version="1.1" viewbox="0 0 8.125 6.8874998" width="8.125" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,6.8875)">
<g transform="translate(72,-66.49)">
<text transform="matrix(1,0,0,-1,-71.95,66.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝜏</tspan>
</text>
</g>
</g>
</svg>, gains represented by <svg height="10.7375" id="M6" style="vertical-align:-0.13794pt" version="1.1" viewbox="0 0 8.6000004 10.7375" width="8.6000004" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,10.7375)">
<g transform="translate(72,-63.41)">
<text transform="matrix(1,0,0,-1,-71.95,63.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑘</tspan>
</text>
</g>
</g>
</svg>.</table>

Advances in Human-Computer Interaction

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Figure 5

Figure 5: Collaborative Exploration with a Micro Aerial Vehicle: A Novel Interaction Method for Controlling a MAV with a Hand-Held Device 