This work aims at showing that it is feasible and safe to use a swarm of Unmanned Aerial Vehicles (UAVs) indoors alongside humans. UAVs are increasingly being integrated under the Industry 4.0 framework. UAV swarms are primarily deployed outdoors in civil and military applications, but the opportunities for using them in manufacturing and supply chain management are immense. There is extensive research on UAV technology, e.g., localization, control, and computer vision, but less research on the practical application of UAVs in industry. UAV technology could improve data collection and monitoring, enhance decision-making in an Internet of Things framework and automate time-consuming and redundant tasks in the industry. However, there is a gap between the technological developments of UAVs and their integration into the supply chain. Therefore, this work focuses on automating the task of transporting packages utilizing a swarm of small UAVs operating alongside humans. MoCap system, ROS, and unity are used for localization, inter-process communication and visualization. Multiple experiments are performed with the UAVs in wander and swarm mode in a warehouse like environment.

翻译：本文旨在论证在室内环境中与人类共存的小型无人机集群应用的可行性与安全性。在工业4.0框架下，无人机正日益被整合应用。目前无人机集群主要用于民用与军事领域的室外场景，但其在制造业和供应链管理中的应用潜力极为巨大。当前学术界对无人机技术（如定位、控制与计算机视觉）已有广泛研究，但针对其在工业领域的实际应用研究尚显不足。无人机技术可提升物联网框架下的数据采集与监控能力，增强决策智能化水平，并实现工业领域中耗时重复性任务的自动化。然而，无人机技术发展与供应链实际应用之间仍存在显著鸿沟。为此，本研究聚焦于利用与人类协同作业的小型无人机集群实现包裹运输任务的自动化。采用运动捕捉系统、机器人操作系统和Unity引擎分别实现定位、进程间通信与可视化功能。在模拟仓储环境中对无人机进行了漫游模式与集群模式的多项实验验证。