Viewpoint-Aware Task Planning and Model Predictive Control for Applications in Videography and Multi-Target Tracking

We seek to combine high level planning with low level reactive control to solve a variety of viewpoint-constrained target following tasks. In the scenarios we consider, a team of tracking agents is desired to gain some sort of visual information about one or more target agents. A high level planning algorithm accounts for coarse, global decisions, such as “Which targets should each tracker be responsible for?”, or “When should a tracker visit each target?” This level of planning is combinatorial in nature and requires coordination between the tracking agents. We combine this process with a lower-level reactive control accounts for stochastic target motion. By making this controller aware of a viewpoint cost function, the behavior of the tracking agents can be both more performant and easier to deploy on real robots.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2021

Author dc:creator

• Ray, Aaron Castagna

Advisor dc:contributor.advisor

• Rus, Daniela

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright MIT

Licence dc:rights.uri

• http://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/139901

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/139901