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 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.