Optimization-based Cooperative Multi-Robot Target Tracking with Reasoning about Occlusions

We introduce an optimization-based control approach that enables a team of robots to cooperatively track a target using onboard sensing. In this setting, the robots are required to estimate their own positions as well as concurrently track the target. Our probabilistic method generates controls that minimize the expected future uncertainty of the target. Additionally, our method efficiently reasons about occlusions between robots and takes them into account for the control generation. We evaluate our approach in a number of experiments in which we simulate a team of quadrotor robots flying in three-dimensional space to track a moving target on the ground. Our experimental results indicate that our method achieves 4 times smaller average maximum tracking error and 3 times smaller average tracking error than the next best approach in the presented scenario.