{"ID":22952755,"CreatedAt":"2026-09-17T02:12:05.498442134Z","UpdatedAt":"2026-09-20T18:11:56.143995915Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2609.18881","arxiv_id":"2609.18881","title":"Body-Motion Control of a Simulated Aerial Swarm from a First-Person View","abstract":"First-person-view (FPV) teleoperation of aerial swarms requires an operator to coordinate collective translation, viewing direction, and formation spacing. We present an upper-body interface that maps torso inclination, hand position, and head rotation to five continuous command dimensions. Neutral postures and motion ranges are calibrated for each participant. In a within-subject study, 14 participants navigated a simulated 15-agent swarm through three-dimensional obstacle courses using this interface and a conventional transmitter. Body-motion control reduced completion time by 19.4% and centroid path length by 7.0%, and increased path directness. Delivered-command variation was 88.8% lower, and concurrent command changes were more frequent. These command measures characterize the complete interfaces, which differed in calibration and filtering. No differences were detected in gate-centering error, collection yield, crash or disconnection counts, overall workload, or usability. All participants reported higher physical demand with body-motion control. The implemented interface therefore improved FPV navigation efficiency at the cost of greater physical demand.","short_abstract":"First-person-view (FPV) teleoperation of aerial swarms requires an operator to coordinate collective translation, viewing direction, and formation spacing. We present an upper-body interface that maps torso inclination, hand position, and head rotation to five continuous command dimensions. Neutral postures and motion...","url_abs":"https://arxiv.org/abs/2609.18881","url_pdf":"https://arxiv.org/pdf/2609.18881v1","authors":"[\"Yang Chen\",\"Darius Giannoli\",\"Dario Floreano\"]","published":"2026-09-16T16:15:25Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}