Multi-UAVs cooperative control in communication relay

A kind of Multi-UAVs cooperative control algorithm under a disaster search and rescue scenario is presented. The states of UAVs are separated as search and relay. In search state, UAVs constantly look for wireless signals from the ground rescue workers by planning path under communication constraints. In relay state, UAVs share information without delay by selecting information route and planning UAVs flight path. Simulation results show that this kind of multi-UAVs cooperative control algorithm could plan path for UAVs efficiently and optimize communication performance of relay network.