Decentralized Perimeter Surveillance Using a Team of UAVs

Authors:
D. Kingston;R. W. Beard;R. S. Holt
Affiliations:
Air Force Res. Lab., Wright-Patterson AFB, OH;-;-
Venue:
IEEE Transactions on Robotics
Year:
2008

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Abstract

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.