Concurrent Target Following with Active Directional Sensors
We propose a collision-avoidance tracker for agents with a directional sensor that aim to maintain a moving target in their field of view. The proposed tracker addresses the view maintenance issue within an Optimal Reciprocal Collision Avoidance (ORCA) framework. Our tracking agents adaptively share...
Published in: | 2018 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) |
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ftfbkssleriris:oai:cris.fbk.eu:11582/327572 2023-11-12T04:24:09+01:00 Concurrent Target Following with Active Directional Sensors Wang, Yiming Cavallaro, Andrea Wang, Yiming Cavallaro, Andrea 2018 http://hdl.handle.net/11582/327572 https://doi.org/10.1109/ICASSP.2018.8462432 https://ieeexplore.ieee.org/document/8462432 eng eng info:eu-repo/semantics/altIdentifier/isbn/978-1-5386-4658-8 ispartofbook:Proceedings of the IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) 2018 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) firstpage:6603 lastpage:6607 numberofpages:5 http://hdl.handle.net/11582/327572 doi:10.1109/ICASSP.2018.8462432 https://ieeexplore.ieee.org/document/8462432 info:eu-repo/semantics/conferenceObject 2018 ftfbkssleriris https://doi.org/10.1109/ICASSP.2018.8462432 2023-10-24T21:06:38Z We propose a collision-avoidance tracker for agents with a directional sensor that aim to maintain a moving target in their field of view. The proposed tracker addresses the view maintenance issue within an Optimal Reciprocal Collision Avoidance (ORCA) framework. Our tracking agents adaptively share the responsibility of avoiding each other and minimise with a smooth actuation the deviation angle from their heading direction to their target. Experimental results with real people trajectories from public datasets show that the proposed method improves view maintenance. Conference Object Orca Fondazione Bruno Kessler: CINECA IRIS 2018 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) 6603 6607 |
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Open Polar |
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Fondazione Bruno Kessler: CINECA IRIS |
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ftfbkssleriris |
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English |
description |
We propose a collision-avoidance tracker for agents with a directional sensor that aim to maintain a moving target in their field of view. The proposed tracker addresses the view maintenance issue within an Optimal Reciprocal Collision Avoidance (ORCA) framework. Our tracking agents adaptively share the responsibility of avoiding each other and minimise with a smooth actuation the deviation angle from their heading direction to their target. Experimental results with real people trajectories from public datasets show that the proposed method improves view maintenance. |
author2 |
Wang, Yiming Cavallaro, Andrea |
format |
Conference Object |
author |
Wang, Yiming Cavallaro, Andrea |
spellingShingle |
Wang, Yiming Cavallaro, Andrea Concurrent Target Following with Active Directional Sensors |
author_facet |
Wang, Yiming Cavallaro, Andrea |
author_sort |
Wang, Yiming |
title |
Concurrent Target Following with Active Directional Sensors |
title_short |
Concurrent Target Following with Active Directional Sensors |
title_full |
Concurrent Target Following with Active Directional Sensors |
title_fullStr |
Concurrent Target Following with Active Directional Sensors |
title_full_unstemmed |
Concurrent Target Following with Active Directional Sensors |
title_sort |
concurrent target following with active directional sensors |
publishDate |
2018 |
url |
http://hdl.handle.net/11582/327572 https://doi.org/10.1109/ICASSP.2018.8462432 https://ieeexplore.ieee.org/document/8462432 |
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Orca |
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Orca |
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info:eu-repo/semantics/altIdentifier/isbn/978-1-5386-4658-8 ispartofbook:Proceedings of the IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) 2018 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) firstpage:6603 lastpage:6607 numberofpages:5 http://hdl.handle.net/11582/327572 doi:10.1109/ICASSP.2018.8462432 https://ieeexplore.ieee.org/document/8462432 |
op_doi |
https://doi.org/10.1109/ICASSP.2018.8462432 |
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2018 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP) |
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6603 |
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6607 |
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1782338703868297216 |