Event

HARP: A Recovery Planner for Multi-UAV Handovers

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Heegyeong Kim and co-authors propose HARP, a "handover-aware recovery planner" for multi-UAV aerial tracking handovers: the receiver actively acquires a view of the target while the sender continues to cover the target. Their approach registers the sender's bounded prediction onto the receiver's local map, distinguishes field-of-view failures from physical occlusion, and generates yaw, translation, and parallax viewpoints for different failures. In simulation, HARP successfully acquired the target in all 49 standard trials and in 15 of 16 stress trials; field tests validated its recovery geometry under field-of-view-limited and environmentally occluded conditions.