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Article

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

1
Departamento de Ingeniería Eléctrica, Electrónica, Automática y Comunicaciones, Universidad de Castilla-La Mancha, 02071 Albacete, Spain
2
Instituto de Investigación en Informática de Albacete, Universidad de Castilla-La Mancha, 02071 Albacete, Spain
3
Departamento de Sistemas Informáticos, Universidad de Castilla-La Mancha, 02071 Albacete, Spain
4
Biomedical Research Networking Center in Mental Health (CIBERSAM), 28016 Madrid, Spain
*
Author to whom correspondence should be addressed.
Academic Editor: Carina Soledad González González
Sensors 2021, 21(3), 908; https://doi.org/10.3390/s21030908
Received: 28 December 2020 / Revised: 21 January 2021 / Accepted: 23 January 2021 / Published: 29 January 2021
(This article belongs to the Section Intelligent Sensors)
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. View Full-Text
Keywords: unmanned aerial vehicle (uav); social robot; feeling of safety and comfort; trajectory planning; virtual reality; MATLAB/Simulink; MQTT unmanned aerial vehicle (uav); social robot; feeling of safety and comfort; trajectory planning; virtual reality; MATLAB/Simulink; MQTT
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MDPI and ACS Style

Belmonte, L.M.; García, A.S.; Morales, R.; de la Vara, J.L.; López de la Rosa, F.; Fernández-Caballero, A. Feeling of Safety and Comfort towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual Home. Sensors 2021, 21, 908. https://doi.org/10.3390/s21030908

AMA Style

Belmonte LM, García AS, Morales R, de la Vara JL, López de la Rosa F, Fernández-Caballero A. Feeling of Safety and Comfort towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual Home. Sensors. 2021; 21(3):908. https://doi.org/10.3390/s21030908

Chicago/Turabian Style

Belmonte, Lidia M., Arturo S. García, Rafael Morales, Jose L. de la Vara, Francisco López de la Rosa, and Antonio Fernández-Caballero. 2021. "Feeling of Safety and Comfort towards a Socially Assistive Unmanned Aerial Vehicle That Monitors People in a Virtual Home" Sensors 21, no. 3: 908. https://doi.org/10.3390/s21030908

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