A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV.
Andriy DmytrukGiuseppe SilanoDavide BicegoDaniel Bonilla LiceaMartin SaskaPublished in: CoRR (2023)
Keyphrases
- collision avoidance
- target tracking
- path planning
- dynamic environments
- mobile robot
- kalman filter
- data fusion
- mean shift
- video camera
- multi sensor
- particle filter
- real time
- unmanned aerial vehicles
- multi robot
- data association
- path finding
- formation control
- object tracking
- moving target
- fuzzy neural network
- mathematical model
- vision system
- computer vision
- optimal path
- image sequences