Randy Beard - CCTA 2021 Workshop on The Confluence of Vision and Control
Channel: Kaveh Fathian
Date: 2021-08-22

Title: Visual Multiple Target Tracking Over Lie Groups

Description: When an unmanned air vehicle tracks a ground or air target using visual queues, it is usually tracking another vehicle that is best modeled as motion on the Lie Groups SE(2) and SE(3). However, most target tracking algorithms are developed by assuming that the targets satisfy linear time-invariant models that are constant velocity, constant acceleration, or constant jerk. In this talk we will describe how visual multiple target tracking on Matrix Lie groups like SE(2) and SE(3) can be formulated and solved efficiently.

Biosketch: Prof. Randal W. Beard received his PhD in 1995 from the Department of Electrical, Computer, and Systems Engineering Rensselaer Polytechnic Institute. Since 1996, he has been with the Electrical and Computer Engineering Department at Brigham Young University, Provo, UT, where he is currently a professor. His primary research focus is autonomous control of small air vehicles and multivehicle coordination and control. He is a past associate editor for the IEEE Transactions on Automatic Control, IEEE Control Systems Magazine, and the Journal of Intelligent and Robotic Systems. He is a fellow of the IEEE, and an associate fellow of AIAA.