Multi-target visual tracking with aerial robots

Abstract : We study the problem of tracking mobile targets using a team of aerial robots. Each robot carries a camera to detect targets moving on the ground. The overall goal is to plan for the trajectories of the robots in order to track the most number of targets, and accurately estimate the target locations using the images. The two objectives can conflict since a robot may fly to a higher altitude and potentially cover a larger number of targets at the expense of accuracy. We start by showing that k ≥ 3 robots may not be able to track all n targets while maintaining a constant factor approximation of the optimal quality of tracking at all times. Next, we study the problem of choosing robot trajectories to maximize either the number of targets tracked or the quality of tracking. We formulate this problem as the weighted version of a combinatorial optimization problem known as the Maximum Group Coverage (MGC) problem. A greedy algorithm yields a 1/2 approximation for the weighted MGC problem. Finally, we evaluate the algorithm and the sensing model through simulations and preliminary experiments.
Document type :
Conference papers
Complete list of metadatas

Cited literature [16 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01137820
Contributor : Antonio Franchi <>
Submitted on : Tuesday, March 31, 2015 - 3:08:43 PM
Last modification on : Wednesday, August 7, 2019 - 3:34:13 PM
Long-term archiving on : Tuesday, April 18, 2017 - 6:20:09 AM

File

2014j-TokIslFra-preprint.pdf
Files produced by the author(s)

Identifiers

Citation

Pratap Tokekar, Volkan Isler, Antonio Franchi. Multi-target visual tracking with aerial robots. 2014 IEEE Int. Conf, on Intelligent Robots and Systems, Sep 2014, Chicago, United States. ⟨10.1109/IROS.2014.6942986⟩. ⟨hal-01137820⟩

Share

Metrics

Record views

151

Files downloads

314