視点制約下での空中追跡のためのマルチロボットタスク割り当て
Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints
複数のドローンで動くターゲットの望ましいショットを障害物がある環境で撮影するため、オフラインで割り当てを計画しオンラインで視点を最適化する2段階手法を提案し、実機で検証した。
著者: Aaron Ray, Alyssa Pierson, Hai Zhu, Javier Alonso-Mora, Daniela Rus
分類: cs.RO
原文アブストラクト
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.
