TY - JOUR
T1 - Effects of speed, cyclicity, and dimensionality on distancing, time, and preference in human-aerial vehicle interactions
AU - Duncan, Brittany A.
AU - Murphy, Robin R.
N1 - Funding Information:
The reviewing of this article was managed by associate editor Joseph LaViola. This work was supported by the National Science Foundation, under a Graduate Research Fellowship. Authors’ addresses: B. A. Duncan (current address), Department of Computer Science and Engineering, University of Nebraska-Lincoln, 1101 T Street, Lincoln, NE 68588-0150; email: bduncan@unl.edu; R. R. Murphy, Department of Computer Science and Engineering, Texas A&M University, 333 HRBB, 3112 TAMU, College Station, TX 77843; email: murphy@cse.tamu.edu. Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies show this notice on the first page or initial screen of a display along with the full citation. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, to republish, to post on servers, to redistribute to lists, or to use any component of this work in other works requires prior specific permission and/or a fee. Permissions may be requested from Publications Dept., ACM, Inc., 2 Penn Plaza, Suite 701, New York, NY 10121-0701 USA, fax + 1 (212) 869-0481, or permissions@acm.org. © 2017 ACM 2160-6455/2017/09-ART13 $15.00 https://doi.org/10.1145/2983927
Publisher Copyright:
© 2017 ACM.
PY - 2017/9
Y1 - 2017/9
N2 - This article will present a simulation-based approach to testing multiple variables in the behavior of a small Unmanned Aerial Vehicle (sUAV), inspired by insect and animal motions, to understand how these variables impact time of interaction, preference for interaction, and distancing in Human-Robot Interaction (HRI). Previous work has focused on communicating directionality of flight, intentionality of the robot, and perception of motion in sUAVs, while interactions involving direct distancing from these vehicles have been limited to a single study (likely due to safety concerns). This study takes place in a Cave Automatic Virtual Environment (CAVE) to maintain a sense of scale and immersion with the users, while also allowing for safe interaction. Additionally, the two-alternative forced-choice method is employed as a unique methodology to the study of collocated HRI in order to both study the impact of these variables on preference and allow participants to choose whether or not to interact with a specific robot. This article will be of interest to end-users of sUAV technologies to encourage appropriate distancing based on their application, practitioners in HRI to understand the use of this new methodology, and human-aerial vehicle researchers to understand the perception of these vehicles by 64 naive users. Results suggest that low speed (by 0.27m, p < 0.02) and high cyclicity (by 0.28m, p < 0.01) expressions can be used to increase distancing; that low speed (by 4.4s, p < 0.01) and three-dimensional (by 2.6s, p < 0.01) expressions can be used to decrease time of interaction; and low speed (by 10.4%, p < 0.01) expressions are less preferred for passability in human-aerial vehicle interactions.
AB - This article will present a simulation-based approach to testing multiple variables in the behavior of a small Unmanned Aerial Vehicle (sUAV), inspired by insect and animal motions, to understand how these variables impact time of interaction, preference for interaction, and distancing in Human-Robot Interaction (HRI). Previous work has focused on communicating directionality of flight, intentionality of the robot, and perception of motion in sUAVs, while interactions involving direct distancing from these vehicles have been limited to a single study (likely due to safety concerns). This study takes place in a Cave Automatic Virtual Environment (CAVE) to maintain a sense of scale and immersion with the users, while also allowing for safe interaction. Additionally, the two-alternative forced-choice method is employed as a unique methodology to the study of collocated HRI in order to both study the impact of these variables on preference and allow participants to choose whether or not to interact with a specific robot. This article will be of interest to end-users of sUAV technologies to encourage appropriate distancing based on their application, practitioners in HRI to understand the use of this new methodology, and human-aerial vehicle researchers to understand the perception of these vehicles by 64 naive users. Results suggest that low speed (by 0.27m, p < 0.02) and high cyclicity (by 0.28m, p < 0.01) expressions can be used to increase distancing; that low speed (by 4.4s, p < 0.01) and three-dimensional (by 2.6s, p < 0.01) expressions can be used to decrease time of interaction; and low speed (by 10.4%, p < 0.01) expressions are less preferred for passability in human-aerial vehicle interactions.
KW - Biologically inspired motion
KW - Human-robot interaction
KW - Unmanned aerial vehicle (UAV)
KW - User studies
UR - http://www.scopus.com/inward/record.url?scp=85030659953&partnerID=8YFLogxK
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U2 - 10.1145/2983927
DO - 10.1145/2983927
M3 - Article
AN - SCOPUS:85030659953
VL - 7
JO - ACM Transactions on Interactive Intelligent Systems
JF - ACM Transactions on Interactive Intelligent Systems
SN - 2160-6455
IS - 3
M1 - 13
ER -