Coordinated vision-based tracking for multiple UAVs

Venanzio Cichella, Isaac Kaminer, Vladimir Dobrokhodov, Naira Hovakimyan

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper tackles the problem of coordinated vision-based tracking of a ground target by a fleet of multiple UAVs that exchange information over a supporting time-varying network. The objective of this work is to formulate decentralized control algorithms that enable multiple vehicles to follow a target while coordinating their phase separation. A typical scenario involves multiple aerial surveillance UAVs which are required to monitor a moving ground object (target tracking), while maintaining a desired inter-vehicle separation (coordination). To solve the tracking problem, the yaw rate of each vehicle is used as control input, while the ground speeds are adjusted to achieve coordination. It is assumed that the UAVs are equipped with an internal autopilot, which is able to track yaw rate and ground speed commands. The performance of the coordinated vision-based tracking algorithm is evaluated as a function of target's velocity, tracking performance of the onboard autopilot, and the quality of service of the communication network.

Original languageEnglish (US)
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479999941
StatePublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866


OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Coordinated vision-based tracking for multiple UAVs'. Together they form a unique fingerprint.

Cite this