Technical Report: Analysis of Intervention Modes in Human-In-The-Loop (HITL) Teleoperation With Autonomous Unmanned Aerial Systems

Abstract

According to numerous research papers, autonomous aerial vehicles will reach higher penetration levels in mixed air traffic in the coming years. In all future scenarios of fully autonomous ground or air vehicle networks, human intervention is expected to take place in the form of remote immediate assistance. There hasn't been enough research in the literature on efficient autonomous drone management in real-world use cases with a lot of uncertainty. In this direction, this technical report examines the real-time remote human involvement with various human-in-the-loop delay-sensitive telemanipulation schemes with autonomous drones in the context of human-vehicle teamwork.