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Visual Target-Tracking Using a Formation of Unmanned Aerial Vehicles

[+] Author Affiliations
Ignacio Mas, Juan I. Giribet

Consejo Nacional de Investigaciones Cientificas y Tecnicas (CONICET), Buenos Aires, Argentina

Sebastian Curi

Centro de Sistemas y Control Instituto Tecnologico de Buenos Aires (ITBA), Buenos Aires, Argentina

Christopher Kitts

Santa Clara University, Santa Clara, CA

Paper No. DETC2015-47789, pp. V009T07A096; 8 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5719-9
  • Copyright © 2015 by ASME


We present a method to visually track and follow a target using a platoon of three unmanned aerial vehicles for the purpose of surveillance, monitoring or escorting. A coordination control technique that enhances specification and monitoring of high level formation parameters such as position, orientation and size is used as a basis for the coordination. A model of a video camera is employed to obtain relative positions with respect to the target of interest. An open-source simulator of Parrot Ar.Drone quadrotors running on the Robot Operating System environment is used to demonstrate the system functionality. Two test cases are presented to illustrate the validity of the approach.

Copyright © 2015 by ASME



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