A Distributed Architecture for Human-Drone Teaming: Timing Challenges and Interaction Opportunities.

Drones are expected to operate autonomously, yet they will also interact with humans to solve tasks together. To support civilian human-drone teams, we propose a distributed architecture where sophisticated operations such as image recognition, coordination with humans, and flight-control decisions are made, not on-board the drone, but remotely. The benefits of such an architecture are the increased computational power available for image recognition and the possibility to integrate interfaces for humans. On the downside, communication is necessary, resulting in the delayed reception of commands. In this article, we discuss the design considerations of the distributed approach, a sample implementation on a smartphone, and an application to the concrete use case of bookshelf inventory. Further, we report experimentally-derived first insights into messaging and command response delays with a custom drone connected through Wi-Fi.