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

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="768180.fig.007a" src="https://static.hindawi.com/articles/ahci/volume-2012/768180/figures/768180.fig.007a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Increase the MAV's altitude 27 cm by making a stretch gesture</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="768180.fig.007b" src="https://static.hindawi.com/articles/ahci/volume-2012/768180/figures/768180.fig.007b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Decrease the MAV's altitude 23.4 cm by making a pinch gesture</td></tr></table></td></tr></table>

<table>Gestures to change the <svg height="7.375" id="M16" style="vertical-align:-0.17555pt" version="1.1" viewbox="0 0 7.9250002 7.375" width="7.9250002" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,7.375)">
<g transform="translate(72,-66.1)">
<text transform="matrix(1,0,0,-1,-71.95,66.32)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑧</tspan>
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</g>
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</svg> coordinate (altitude) of the MAV.</table>

Advances in Human-Computer Interaction

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Figure 7

Figure 7: Collaborative Exploration with a Micro Aerial Vehicle: A Novel Interaction Method for Controlling a MAV with a Hand-Held Device 