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Open AccessArticle

Cooperative Optimization of UAVs Formation Visual Tracking

Department of Information Engineering, University of Padova, 35131 Padova, Italy
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Robotics 2019, 8(3), 52; https://doi.org/10.3390/robotics8030052
Received: 23 May 2019 / Revised: 25 June 2019 / Accepted: 5 July 2019 / Published: 7 July 2019
(This article belongs to the Special Issue Navigation and Control of UAVs)
The use of unmanned vehicles to perform tiring, hazardous, repetitive tasks, is becoming a reality out of the academy laboratories, getting more and more interest for several application fields from the industrial, to the civil, to the military contexts. In particular, these technologies appear quite promising when they employ several low-cost resource-constrained vehicles leveraging their coordination to perform complex tasks with efficiency, flexibility, and adaptation that are superior to those of a single agent (even if more instrumented). In this work, we study one of said applications, namely the visual tracking of an evader (target) by means of a fleet of autonomous aerial vehicles, with the specific aim of focusing on the target so as to perform an accurate position estimation while concurrently allowing a wide coverage over the monitored area so as to limit the probability of losing the target itself. These clearly conflicting objectives call for an optimization approach that is here developed: by considering both aforementioned aspects and the cooperative capabilities of the fleet, the designed algorithm allows controling in real time the single fields of view so as to counteract evasion maneuvers and maximize an overall performance index. The proposed strategy is discussed and finally assessed through the realistic Gazebo-ROS simulation framework.
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Keywords: UAVs; visual tracking; coverage; multi-agent formation; optimization UAVs; visual tracking; coverage; multi-agent formation; optimization
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Lissandrini, N.; Michieletto, G.; Antonello, R.; Galvan, M.; Franco, A.; Cenedese, A. Cooperative Optimization of UAVs Formation Visual Tracking. Robotics 2019, 8, 52.

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  • Externally hosted supplementary file 1
    Link: https://youtu.be/MXV0cQ4qmRk
    Description: Video of the experiment described in the manuscript is provided as supplementary material.
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