Decentralized Perimeter Surveillance Using a Team of Small UAVs (Preprint)

摘要

This paper poses the cooperative perimeter surveillance problem and offers a decentralized solution that accounts for perimeter growth (expanding or contracting) and insertion/deletion of team members. By identifying and sharing the critical coordination information and by exploiting the known communication topology, only a small communication range is required for accurate performance. Simulation and hardware results are presented that demonstrate the applicability of the solution.