Active Perception Based Formation Control for Multiple Aerial Vehicles

• Published in: IEEE robotics and automation letters Vol. 4; no. 4; pp. 4491 - 4498
• Main Authors: Tallamraju, Rahul, Price, Eric, Ludwig, Roman, Karlapalem, Kamalakar, Bulthoff, Heinrich H., Black, Michael J., Ahmad, Aamir
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.10.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Active control; Aerial Systems: Perception and Autonomy; Algorithms; Cameras; Collision avoidance; Configurations; Convexity; Coordinate measuring machines; Decoupling; Motion capture; Multi-Robot Systems; Obstacle avoidance; Optimization; Robots; Target tracking; Tracking; Uncertainty; Visual Tracking

We present a novel robotic front-end for autonomous aerial motion-capture (mocap) in outdoor environments. In previous work, we presented an approach for cooperative detection and tracking (CDT) of a subject using multiple micro-aerial vehicles (MAVs). However, it did not ensure optimal view-point c...