“…In recent years, unmanned aerial vehicle (UAV)-related research has attracted much attention. UAVs have many potential applications, such as area surveillance, and search and rescue [ 1 , 2 , 3 , 4 , 5 ]. Collaborative multi-UAV systems can significantly improve the work efficiency, especially when they perform challenging and complex tasks, such as target search in dangerous environments, i.e., a seismic region, or monitoring a large area-of-interest [ 6 , 7 , 8 , 9 ].…”