UAV target tracking using an adversarial iterative prediction

Authors:
Panagiotis Theodorakopoulos;Simon Lacroix
Affiliations:
LAAS, CNRS, University of Toulouse, Toulouse, France;LAAS, CNRS, University of Toulouse, Toulouse, France
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 2
Cited 1

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International Journal of Robotics Research
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Multi-UAV motion planning for guaranteed search

Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems

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Abstract

We present a control strategy that permits a fixed wing UAV to visually track a ground target. A pursuit-evasion strategy aims at optimizing the visibility of the pursuer UAV after having predicted the best action for the evading target. This is achieved by using two iterative methods that optimise various mission based criteria: obstacle avoidance and visibility maximisation for the UAV and stealthy motions for the target.