Roadmap for Visibility-based Target Tracking: Iterative Construction and Motion Strategy

Guillermo Laguna; Shashwata Mandal; Sourabh Bhattacharya

IROS 2021poster3 citations

Roadmap for Visibility-based Target Tracking: Iterative Construction and Motion Strategy

Guillermo Laguna, Shashwata Mandal, Sourabh Bhattacharya

Abstract

We consider the problem of generating a fixed path for a mobile observer in a polygonal environment that can maintain a line-of-sight with an unpredictable target. In contrast to purely off-line or on-line techniques, we propose a hierarchical tracking strategy in which an off-line path generation technique based on a RRT is coupled with an online feedback-control technique to generate trajectories for the mobile observer.

BibTeX

@inproceedings{iros2021_roadmapforvisibi,
  title = {Roadmap for Visibility-based Target Tracking: Iterative Construction and Motion Strategy},
  author = {Guillermo Laguna and Shashwata Mandal and Sourabh Bhattacharya},
  booktitle = {IROS 2021},
  year = {2021}
}