Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints
- Resource Type
- Conference
- Authors
- Ray, Aaron; Pierson, Alyssa; Zhu, Hai; Alonso-Mora, Javier; Rus, Daniela
- Source
- 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Intelligent Robots and Systems (IROS), 2021 IEEE/RSJ International Conference on. :1515-1522 Sep, 2021
- Subject
- Robotics and Control Systems
Uncertainty
Target tracking
Pipelines
Prediction algorithms
Trajectory
Planning
Task analysis
- Language
- ISSN
- 2153-0866
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.