8 accepted papers
This letter presents a distributed trajectory planning method for multi-agent aerial tracking. The proposed method uses a Dynamic Buffered Voronoi Cell (DBVC) and a Dynamic Inter-Visibility Cell (DIVC) to formulate the distributed trajectory generation. Specifically, the DBVC and the DIVC are time-v…
Maintaining the visibility of the target is one of the major objectives of aerial tracking missions. This paper proposes a target-visible trajectory planning pipeline using quadratic programming (QP). Our approach can handle various tracking settings, including 1) single- and dual-target following a…
This letter presents a distributed trajectory planning method for multi-agent aerial tracking. The proposed method uses a Dynamic Buffered Voronoi Cell (DBVC) and a Dynamic Inter-Visibility Cell (DIVC) to formulate the distributed trajectory generation. Specifically, the DBVC and the DIVC are time-v
This letter presents a versatile trajectory planning pipeline for aerial tracking. The proposed tracker is capable of handling various chasing settings such as complex unstructured environments, crowded dynamic obstacles and multiple-target following. Among the entire pipeline, we focus on developin
Chasing a dynamic target in a dense environment is one of the challenging applications of autonomous drones. The task requires multi-modal data, such as RGB and depth, to accomplish safe and robust maneuver. However, using different types of modalities can be difficult due to the limited capacity of
Autonomous aerial videography is a challenging task, which involves collision avoidance against obstacles and visibility guaranteed target tracking in unstructured environments. In this paper, we organize a two micro aerial vehicle (MAV) team, which consists of a target agent responsible for a speci…
This work suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module which can be applied to dense environments and 2) a hierarchic…
In micro aerial vehicle (MAV) operations, the success of a mission is highly dependent on navigation performance, which has raised recent interests on navigation-aware path planning. One of the challenges lies in that optimal motions for successful navigation and the designated mission are often dif…