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Event-Triggered Image Moments Predictive Control for Tracking Evolving Features Using UAVs | IEEE Journals & Magazine | IEEE Xplore

Event-Triggered Image Moments Predictive Control for Tracking Evolving Features Using UAVs


Abstract:

This paper presents a novel approach for tracking deformable contour targets using Unmanned Aerial Vehicles (UAVs). The proposed scheme combines image moments descriptor ...Show More

Abstract:

This paper presents a novel approach for tracking deformable contour targets using Unmanned Aerial Vehicles (UAVs). The proposed scheme combines image moments descriptor and Event-Triggered (ET) Nonlinear Model Predictive Control (NMPC) for efficient and accurate tracking. The deformable contour model allows adaptation to the evolving target's shape, while the proposed event-triggered scheme achieves improved computational efficiency and extended flight duration while generating new control sequences for the UAV. Real-world experimental validation as well as a comparative simulation performance analysis validate the scheme, showcasing its robustness in handling complex scenarios. This approach holds promise for various applications, such as surveillance and autonomous navigation.
Published in: IEEE Robotics and Automation Letters ( Volume: 9, Issue: 2, February 2024)
Page(s): 1019 - 1026
Date of Publication: 04 December 2023

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