论文标题
空中跟踪的多机器人任务分配带有观点约束
Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints
论文作者
论文摘要
我们解决了分配一支无人机团队以在障碍物存在下自主捕获动态目标所需的镜头的问题。我们提出了一条两阶段的计划管道，该管道会生成一个脱机的无人机分配，并在网上在线优化观点。给定所需的射击参数，高级规划师使用可见性启发式方法来预测捕获每次射击的好时机，并使用整数线性程序来计算无人机分配。在线模型预测控制算法使用分配作为参考来捕获镜头。该算法在用一对无人机和遥控汽车的硬件中验证。
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.
