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  Multi-Target Visual Tracking with UAVs

Tokekar, P., Isler, V., & Franchi, A. (2014). Multi-Target Visual Tracking with UAVs. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) (pp. 350-356). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0001-2CCE-7 Version Permalink: http://hdl.handle.net/21.11116/0000-0001-2CCF-6
Genre: Conference Paper

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Tokekar, P, Author
Isler, V, Author
Franchi, A1, Author              
Affiliations:
1Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Analyse et d'Architecture des Systèmes (LAAS), France, ou_persistent22              

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 Abstract: We study the problem of tracking mobile targets using a team of aerial robots. Each robot carries a camera to detect targets moving on the ground. The overall goal is to plan for the trajectories of the robots in order to track the most number of targets, and accurately estimate the target locations using the images. The two objectives can conflict since a robot may fly to a higher altitude and potentially cover a larger number of targets at the expense of accuracy. We start by showing that k ≥ 3 robots may not be able to track all n targets while maintaining a constant factor approximation of the optimal quality of tracking at all times. Next, we study the problem of choosing robot trajectories to maximize either the number of targets tracked or the quality of tracking. We formulate this problem as the weighted version of a combinatorial optimization problem known as the Maximum Group Coverage (MGC) problem. A greedy algorithm yields a 1/2 approximation for the weighted MGC problem. Finally, we evaluate the algorithm and the sensing model through simulations and preliminary experiments.

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 Dates: 2014-09
 Publication Status: Published in print
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 Identifiers: DOI: 10.1109/IROS.2014.6942986
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Place of Event: Chicago, IL, USA
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 350 - 356 Identifier: -