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

Christos Papachristos, Dimos Tzoumanikas, Kostas Alexis, Antonios Tzes

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

    Abstract

    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
    PublisherSpringer-Verlag
    Pages444-454
    Number of pages11
    ISBN (Print)9783319278568
    DOIs
    StatePublished - Jan 1 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)
    Volume9474
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349

    Other

    Other11th International Symposium on Advances in Visual Computing, ISVC 2015
    CountryUnited States
    CityLas Vegas
    Period12/14/1512/16/15

    Fingerprint

    Robotics
    Antennas
    Navigation
    Flight Control
    Visual Perception
    Motion
    Path Planning
    Antenna grounds
    Segmentation
    Collision
    Unmanned aerial vehicles (UAV)
    Motion planning
    Synthesis
    Unknown
    Target
    Unit
    Methodology
    Human
    Model
    Perception

    ASJC Scopus subject areas

    • Theoretical Computer Science
    • Computer Science(all)

    Cite this

    Papachristos, C., Tzoumanikas, D., Alexis, K., & Tzes, A. (2015). Autonomous robotic aerial tracking, avoidance, and seeking of a mobile human subject. In Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings (pp. 444-454). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9474). Springer-Verlag. https://doi.org/10.1007/978-3-319-27857-5_40

    Autonomous robotic aerial tracking, avoidance, and seeking of a mobile human subject. / Papachristos, Christos; Tzoumanikas, Dimos; Alexis, Kostas; Tzes, Antonios.

    Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. Springer-Verlag, 2015. p. 444-454 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9474).

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

    Papachristos, C, Tzoumanikas, D, Alexis, K & Tzes, A 2015, Autonomous robotic aerial tracking, avoidance, and seeking of a mobile human subject. in Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9474, Springer-Verlag, pp. 444-454, 11th International Symposium on Advances in Visual Computing, ISVC 2015, Las Vegas, United States, 12/14/15. https://doi.org/10.1007/978-3-319-27857-5_40
    Papachristos C, Tzoumanikas D, Alexis K, Tzes A. Autonomous robotic aerial tracking, avoidance, and seeking of a mobile human subject. In Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. Springer-Verlag. 2015. p. 444-454. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-319-27857-5_40
    Papachristos, Christos ; Tzoumanikas, Dimos ; Alexis, Kostas ; Tzes, Antonios. / Autonomous robotic aerial tracking, avoidance, and seeking of a mobile human subject. Advances in Visual Computing - 11th International Symposium, ISVC 2015, Proceedings. Springer-Verlag, 2015. pp. 444-454 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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