A novel cooperative searching architecture for multi‐unmanned aerial vehicles under restricted communication

Abstract

Searching for a distinguishable lost target in a bounded area automatically with unmanned aerial vehicle (UAV) is a fundamental problem in the theory of physical search. This paper studies the problem in detail, presents a new and more realistic Bayesian formula representing the problem by taking communication capability of UAVs into consideration, and focuses on the case of applying a team of multiple cooperative UAVs in the field for the search, where each UAV can autonomously search the area for the target using Bayesian filtering algorithm. The perturbation of the searching performance by the different prior belief probability distribution functions is investigated. Empirical evidence findings illustrate that our approach yields improved accuracy.

Multiagent coverage search based on Voronoi and sparse heteroscedastic Gaussian process

“…The discrepancy between the sampled probability points and the original ones can be measured according to the MMD. Based on ( 12)-( 14), the MMD FIGURE 5 An example of predicting result by using SHGP for target search FIGURE 6 Simulation results of the search process based on Voronoi [11] can be expressed as…”

“…Multiagent systems have been widely used in precision agriculture [1], area surveillance [2,3], search and rescue [4,5], etc. Among them, multiagent coverage search of an unknown environment is a typical application.…”

Adaptive fractional‐order nonsingular fast terminal sliding mode formation control of multiple quadrotor UAVs‐based distributed estimator

“…On the other hand, under the unstable communication environment, the information exchange between the quadrotor UAVs may be limited. In this case, the formation control of the quadrotor UAV system becomes more complicated [10, 11]. Solving the above two key problems is of great significance to the further application of the quadrotor UAV system [12].…”

Cooperative target search and tracking for multi-UAVs based on control barrier functions

“…With the development of science and technology, the unmanned aerial vehicle (UAV) has been widely applied in military or civilian fields, such as surveillance (Liu et al, 2020; Martinez-Alpiste et al, 2021), tracking (Barikbin and Fakharian, 2019; Chen et al, 2020), and search (Ran et al, 2022; Zheng et al, 2020; Zhou et al, 2020). Compared to manned aircraft, the UAV has prominent advantages in executing dull, dirty, and dangerous tasks.…”