Occlusion-aware multi-robot 3D tracking

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 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. We compare our method to other state-of-the-art approaches represented by the random sampling technique, lattice planning method, and our previous method. Our experimental results indicate that our method achieves up to 8 times smaller maximum tracking error and up to 2 times smaller average tracking error than the next best approach in the presented scenarios.