Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints
Aaron Ray,Alyssa Pierson,Hai Zhu,Javier Alonso-Mora,Daniela Rus,Aaron Ray,Alyssa Pierson,Hai Zhu,Javier Alonso-Mora,Daniela Rus
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 captu...
