Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Feeling of Safety and Comfort Towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual Home

Version 1 : Received: 1 October 2020 / Approved: 8 October 2020 / Online: 8 October 2020 (11:06:18 CEST)

How to cite: Belmonte, L.M.; García, A.S.; Morales, R.; de la Vara, J.L.; Fernández-Caballero, A. Feeling of Safety and Comfort Towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual Home. Preprints 2020, 2020100174 (doi: 10.20944/preprints202010.0174.v1). Belmonte, L.M.; García, A.S.; Morales, R.; de la Vara, J.L.; Fernández-Caballero, A. Feeling of Safety and Comfort Towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual Home. Preprints 2020, 2020100174 (doi: 10.20944/preprints202010.0174.v1).

Abstract

Unmanned aerial vehicles (UAVs) represent a new model of social robots for home care of dependent persons. In this regard, this article introduces a study on people’s feeling of safety and comfort while watching the monitoring trajectory of a quadrotor dedicated to determining their condition. Three main parameters are evaluated: the relative monitoring altitude, the monitoring velocity and the shape of the monitoring path around the person (ellipsoidal or circular). For this purpose, a new trajectory generator based on a state machine, which is successfully implemented and simulated in MATLAB/Simulink®, is described. The study is carried out with 37 participants using a virtual reality (VR) platform based on two modules, UAV Simulator and VR Visualiser, both communicating through the MQTT protocol. The participants’ preferences have been a high relative monitoring altitude, a high monitoring velocity and a circular path. These choices are a starting point for the design of trustworthy socially assistive UAVs flying in real homes.

Subject Areas

Unmanned Aerial Vehicle (UAV); Social Robot; Feeling of Safety and Comfort; Trajectory Planning; Virtual Reality; MATLAB/Simulink®; MQTT

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