Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints

Aaron Ray, Alyssa Pierson, Hai Zhu, Javier Alonso Mora, Daniela Rus

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Downloads (Pure)

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 languageEnglish
Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)
PublisherIEEE
Pages1515-1522
ISBN (Electronic)978-1-6654-1714-3
ISBN (Print)978-1-6654-1715-0
DOIs
Publication statusPublished - 2021
Event2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Online at Prague, Czech Republic
Duration: 27 Sep 20211 Oct 2021

Conference

Conference2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryCzech Republic
CityOnline at Prague
Period27/09/211/10/21

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-care
Otherwise 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.

Fingerprint

Dive into the research topics of 'Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints'. Together they form a unique fingerprint.

Cite this