# Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints

arXiv: https://arxiv.org/abs/2205.15483 · HTML: https://mlsanity.com/paper/2205.15483/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 May 2022.

## Built on by (most cited first, 1 of 1)

- [Greedy Perspectives: Multi-Drone View Planning for Collaborative Perception in Cluttered Environments](https://mlsanity.com/paper/2310.10863/) (2023)

## Abstract (arXiv)

We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning pipeline that generates offline an assignment of drone to shots and locally optimizes online the viewpoint. Given desired shot parameters, the high-level planner uses a visibility heuristic to predict good times for capturing each shot and uses an Integer Linear Program to compute drone assignments. An online Model Predictive Control algorithm uses the assignments as reference to capture the shots. The algorithm is validated in hardware with a pair of drones and a remote controlled car.