Path planning with Incremental Roadmap Update for Visibilitybased Target Tracking In this paper, we address the visibilitybased target tracking problem in which a mobile observer moving along a proute, which we define as a fixed path for target tracking, tries to keep a mobile target in its fieldofview. By drawing a connection to the watchmanxe2x80x99s route problem, we find a set of conditions that must be satisfied by the proute. Then we propose a metric for tracking to estimate a sufficient speed for the observer given the geometry of the environment. We show that the problem of finding the proute on which the observer requires minimum speed is computationally intractable. We present a technique to find a proute on which the observer needs at most twice the minimum speed to track the intruder and a reactive motion strategy for the observer.

Online Trajectory Generation of a MAV for Chasing a Moving Target in 3D Dense Environments This work deals with a moving target chasing mission of an aerial vehicle equipped with a vision sensor in a cluttered environment. In contrast to obstaclefree or sparse environments, the chaser should be able to handle collision and occlusion together with flight efficiency. In order to tackle these challenges in realtime, we introduce a metric for target visibility and propose a hierarchical chasing planner. In the first phase, we generate a sequence of waypoints and chasing corridors which ensure safety and optimize visibility. In the following phase, the corridors and waypoints are utilized as constraints and objective respectively in quadratic programming from which we complete a dynamically feasible trajectory for chasing. The proposed algorithm is tested in multiple dense environments. The simulator AutoChaser with full code implementation u0026 GUI can be found in https:github.comicslJeontraj_gen_vis and video is available at https:youtu.be2d3uDlYR_M.