Flying Chameleons: A New Concept for Minimum-Deployment, Multiple-Target Tracking Drones.

In this paper, we aim to open up new perspectives in the field of autonomous aerial surveillance and target tracking systems, by exploring an alternative that, surprisingly, and to the best of the authors' knowledge, has not been addressed in that context by the research community thus far. It can be summarized by the following two questions. Under the scope of such applications, what are the implications and possibilities offered by mounting several steerable cameras onboard of each aerial agent? Second, how can optimization algorithms benefit from this new framework, in their attempt to provide more efficient and cost-effective solutions on these areas? The paper presents the idea as an additional degree of freedom to be exploited, which can enable more efficient alternatives in the deployment of such applications. As an initial approach, the problem of the optimal positioning with respect to a set of targets of one single agent, equipped with several onboard tracking cameras with different or variable focal lengths, is addressed. As a consequence of this allowed heterogeneity in focal lengths, the notion of distance needs to be adapted into a notion of , as the agent can trade longer Euclidean distances for correspondingly longer focal lengths. Moreover, the proposed optimization indices try to balance, in an optimal way, the verticality of the viewpoints along with the optical range to the targets. Under these premises, several positioning strategies are proposed and comparatively evaluated.