• The video stream is transmitted to ground and an operator selects targets to track.

• The onboard image processing system tracks the selected multiple targets.

• A gimballed camera keeps the targets on the center of the video during stand-off circular flight.

I developed the software architecture of the onboard image processing board, the autopilot of the UAV, the ground control interface, and the feedback control for the gimbal to track the targets. I led the system development and experiment.

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• Two multicopter UAVs (UAV1, UAV2) are equipped with gimballed cameras. UAV2 is equipped with a laser range finder as well. They are tracking a ground target.

• UAV3 (fixed-wing) is circling around UAV2, receiving its current position.

• They share their states (position, etc.) and sensor measurements via an ad-hoc network (directly between the UAVs, not through the ground station).

I developed the ad-hoc communication software and designed the ground control interface for operating the multiple UAVs. I developed the autopilot and mission scheduler of the UAVs. I led the system development and experiment.

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