Science fiction is now science reality. You can run through a forest, but if a drone swarm wants to find you, it will. Wow, super smart flying robots is just what we need right now.
To catch up with the human while avoiding obstacles and other drones, we design a tracking penalty along with GPPs to plan the desired trajectory. Furthermore, multidrone tracking improves the robustness to occlusion as shown in Fig. 6D because the object position can be acquired by multiple drones through communication. Drones will try to receive and fuse as many observations as possible from itself and others to improve occlusion resistance.
https://www.science.org/doi/10.1126/scirobotics.abm5954
https://www.science.org/doi/10.1126/scirobotics.abm5954