# DroneLight: Drone Draws in the Air using Long Exposure Light Painting and ML

arXiv: https://arxiv.org/abs/2007.15171 · HTML: https://mlsanity.com/paper/2007.15171/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Jul 2020.

## Built on by (most cited first, 1 of 1)

- [Flying Robotics Art: ROS-based Drone Draws the Record-Breaking Mural](https://mlsanity.com/paper/2511.03651/) (2025)

## Abstract (arXiv)

We propose a novel human-drone interaction paradigm where a user directly interacts with a drone to light-paint predefined patterns or letters through hand gestures. The user wears a glove which is equipped with an IMU sensor to draw letters or patterns in the midair. The developed ML algorithm detects the drawn pattern and the drone light-paints each pattern in midair in the real time. The proposed classification model correctly predicts all of the input gestures. The DroneLight system can be applied in drone shows, advertisements, distant communication through text or pattern, rescue, and etc. To our knowledge, it would be the world's first human-centric robotic system that people can use to send messages based on light-painting over distant locations (drone-based instant messaging). Another unique application of the system would be the development of vision-driven rescue system that reads light-painting by person who is in distress and triggers rescue alarm.