Yes, the proposed Visual Servoing NMPC framework can be adapted to facilitate collaborative multi-UAV target tracking and surveillance missions. This adaptation would involve several key modifications and enhancements:
Decentralized Control Architecture: Implementing a decentralized control strategy allows each UAV to operate independently while sharing information about the target's state and their own positions. This can be achieved through communication protocols that enable real-time data exchange among UAVs.
Cooperative Target Tracking Algorithms: Developing algorithms that allow multiple UAVs to collaboratively track a target can enhance tracking accuracy and coverage. For instance, UAVs can divide the surveillance area among themselves, ensuring that the target remains within the field of view of at least one UAV at all times.
Formation Control: Incorporating formation control strategies can optimize the UAVs' spatial arrangement during tracking missions. This ensures that the UAVs maintain an effective distance from each other while maximizing their collective field of view and minimizing occlusions.
Shared State Estimation: Utilizing a shared state estimation framework, such as a Kalman filter or particle filter, can improve the accuracy of target tracking. By combining measurements from multiple UAVs, the system can achieve a more reliable estimate of the target's position and velocity.
Dynamic Task Allocation: Implementing dynamic task allocation algorithms can allow UAVs to adaptively assign roles based on their current states and the environment. For example, if one UAV loses sight of the target, another UAV can take over tracking responsibilities.
Safety and Collision Avoidance: Integrating safety protocols and collision avoidance mechanisms is crucial in multi-UAV operations. This can be achieved through the use of barrier functions and real-time obstacle detection systems to ensure safe navigation and operation.
By incorporating these adaptations, the proposed framework can effectively support collaborative multi-UAV target tracking and surveillance missions, enhancing operational efficiency and effectiveness in complex environments.