Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments

Video for the ICRA 2021 submission. Preprint: to be released. Code: to be released. This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense environments are unknown to the UAV. Our work is divided into two parts: target motion prediction and tracking trajectory planning. The target motion prediction method utilizes target obser