Real-time team coordination system for reconnaissance and surveillance missions

摘要

A method routes a predefined number of entities (200) through a predetermined area for scanning the content of the predetermined area. The method comprises the steps of: partitioning the predetermined area into a first set of cells (100); grouping the first set of cells (100) into a number of corridors (201) equal to the number of entities (200); determining a starting cell for each entity (200) in each corridor (201); initiating a scan of cells of each of the corridors (201) from the starting cell of each of the entities (200) and determining the content of each of the scanned cells; and determining a total cost for each entity (200) to travel to each of the scanned cells scanned by each entity (200) and performing a scan from each of the scanned cells by each entity (200).