Maintaining the visibility of the target is one of the major objectives of aerial tracking missions. This paper proposes a target-visible trajectory planning pipeline using quadratic programming (QP). Our approach can handle various tracking settings, including 1) single- and dual-target following and 2) both static and dynamic environments, unlike other works that focus on a single specific setup. In contrast to other studies that fully trust the predicted trajectory of the target and consider only the visibility of the target's center, our pipeline considers error in target path prediction and the entire body of the target to maintain the target visibility robustly. First, a prediction module uses a sample-check strategy to quickly calculate the reachable sets of moving objects, which represent the areas their bodies can reach, considering obstacles. Subsequently, the planning module formulates a single QP problem, considering path topology, to generate a tracking trajectory that maximizes the visibility of the target's reachable set among obstacles. The performance of the planner is validated in multiple scenarios, through high-fidelity simulations and real-world experiments.

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