Field experiment of a fully autonomous multiple UAV/UGS intruder detection and monitoring system

This document describes the motivation, theoretical description, development, and field test of a system utilizing multiple Unmanned Aerial Vehicles (UAV)s that cooperate with each other, using Unattended Ground Sensors (UGS), to monitor an area, detect intruder vehicles, capture imagery of the intruders, and deliver that imagery to the home base. Since the UAVs have no sensors/perception algorithms that they can use to detect the intruder, they rely on off-board sensors, the UGS, to do this. The experiment was conducted in a realistic environment and during the experiment, the UAVs made all decisions and took all actions without human intervention.