Interactive Multi-Robot Aerial Cinematography Through Hemispherical Manifold Coverage
Interactive Multi-Robot Aerial Cinematography Through Hemispherical Manifold Coverage
复制标题
通过半球流形覆盖的交互式多机器人航拍
DOI：
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Y. Diaz
中科院分区：
文献类型：
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作者：
Xiaotian Xu;Guan;Pratap Tokekar;Y. Diaz
本文提出了一个分布式交互框架，为基于半球覆盖的多机器人航空摄影提供高级位置指令。提出了一种基于半球覆盖函数和几何关系优化的控制策略。它使多架无人机（UAV）能够在跟踪动态（真实或虚拟）目标时协调它们的运动，并且可以适应高水平的人类输入来影响UAV的集中。在这个框架中，每架无人机使用本地信息结合外源输入来确定其运动。系统的两个输入，即目标的预测轨迹和用户定义的审美偏好，与多机器人系统（MRS）的大小无关。利用Gazebo中的PX4 SITL自动驾驶模拟器对该框架进行了验证，并通过仿真验证了该框架的可扩展性。
This paper presents a distributed interactive framework to provide high-level position instructions for multi-robot aerial cinematography based on coverage over a hemisphere. The control strategy based on optimization of the coverage functional and geometric relationships over a hemisphere is presented. It enables multiple Unmanned Aerial Vehicles (UAVs) to coordinate their motion while tracking a dynamic (real or virtual) target, and can accommodate high-level human inputs to influence UAV concentration. In this framework, each UAV uses local information combined with exogenous inputs to determine its motion. The two inputs to the system, i.e., the predicted trajectory of the target and user-defined aesthetic preferences, are agnostic to the size of the multi-robot system (MRS). The proposed framework is validated using the PX4 SITL Autopilot simulator in Gazebo, and the scalability of the framework is verified via simulations.