Abstract
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to shots and locally optimizes online the viewpoint. Given desired shot parameters, the high-level planner uses a visibility heuristic to predict good times for capturing each shot and uses an Integer Linear Program to compute drone assignments. An online Model Predictive Control algorithm uses the assignments as reference to capture the shots. The algorithm is validated in hardware with a pair of drones and a remote controlled car.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021) |
| Publisher | IEEE |
| Pages | 1515-1522 |
| ISBN (Electronic) | 978-1-6654-1714-3 |
| ISBN (Print) | 978-1-6654-1715-0 |
| DOIs | |
| Publication status | Published - 2021 |
| Event | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Online at Prague, Czech Republic Duration: 27 Sept 2021 → 1 Oct 2021 |
Conference
| Conference | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
|---|---|
| Country/Territory | Czech Republic |
| City | Online at Prague |
| Period | 27/09/21 → 1/10/21 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.