Autonomous robotic aerial tracking, avoidance, and seeking of a mobile human subject

Christos Papachristos, Dimos Tzoumanikas, Kostas Alexis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper presents a methodology to achieve Robotic Aerial Tracking of a mobile – human – subject within a previously-unmapped environment, potentially cluttered with unknown structures. The proposed system initially employs a high-end Unmanned Aerial Vehicle, capable of fully-autonomous estimation and flight control. This platform also carries a high-level Perception and Navigation Unit, which performs the tasks of 3D-visual perception, subject detection, segmentation, and tracking, which allows the aerial system to follow the human subject as they perform free unscripted motion, in the perceptual – and equally importantly – in the mobile sense. To this purpose, a navigation synthesis which relies on an attractive/repulsive forces-based approach and collision-free path planning algorithms is integrated into the scheme. Employing an incrementally-built map model which accounts for the ground subject’s and the aerial vehicle’s motion constraints, the Robotic Aerial Tracker system is capable of achieving continuous tracking and reacquisition of the mobile target.

Original languageEnglish (US)
Title of host publicationAdvances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings
EditorsMark Elendt, Richard Boyle, Eric Ragan, Bahram Parvin, Rogerio Feris, Tim McGraw, Ioannis Pavlidis, Regis Kopper, George Bebis, Darko Koracin, Zhao Ye, Gunther Weber
PublisherSpringer Verlag
Number of pages11
ISBN (Print)9783319278568
StatePublished - 2015
Event11th International Symposium on Advances in Visual Computing, ISVC 2015 - Las Vegas, United States
Duration: Dec 14 2015Dec 16 2015

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other11th International Symposium on Advances in Visual Computing, ISVC 2015
Country/TerritoryUnited States
CityLas Vegas

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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