TY - GEN
T1 - Autonomous robotic aerial tracking, avoidance, and seeking of a mobile human subject
AU - Papachristos, Christos
AU - Tzoumanikas, Dimos
AU - Alexis, Kostas
AU - Tzes, Anthony
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84952671743&partnerID=8YFLogxK
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U2 - 10.1007/978-3-319-27857-5_40
DO - 10.1007/978-3-319-27857-5_40
M3 - Conference contribution
AN - SCOPUS:84952671743
SN - 9783319278568
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 444
EP - 454
BT - Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings
A2 - Elendt, Mark
A2 - Boyle, Richard
A2 - Ragan, Eric
A2 - Parvin, Bahram
A2 - Feris, Rogerio
A2 - McGraw, Tim
A2 - Pavlidis, Ioannis
A2 - Kopper, Regis
A2 - Bebis, George
A2 - Koracin, Darko
A2 - Ye, Zhao
A2 - Weber, Gunther
PB - Springer Verlag
T2 - 11th International Symposium on Advances in Visual Computing, ISVC 2015
Y2 - 14 December 2015 through 16 December 2015
ER -