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The intention of the target can help us to estimate its future motion statemore accurately. This paper proposes an intention-aware planner to enhancesafety and robustness in aerial tracking applications. Firstly, we utilize theMediapipe framework to estimate target's pose. A risk assessment function and astate observation function are designed to predict the target intention.Afterwards, an intention-driven hybrid A* method is proposed for target motionprediction, ensuring that the target's future positions align with itsintention. Finally, an intention-aware optimization approach, in conjunctionwith particular penalty formulations, is designed to generate aspatial-temporal optimal trajectory. Benchmark comparisons validate thesuperior performance of our proposed methodology across diverse scenarios. Thisis attributed to the integration of the target intention into the plannerthrough coupled formulations.

Intention-Aware Planner for Robust and Safe Aerial Tracking