A Lagrangian UAV swarm formation suitable for monitoring exclusive economic zone and for search and rescue

This paper presents the velocity controllers of the simple rigid-body individuals of a 2-D Lagrangian swarm model that can take up a linear formation which could be used by unmanned aerial dynamical systems for searching large areas. The velocity controllers are derived from a Lyapunov function. The Direct method of Lyapunov guarantees the stability of the system. The velocity controllers are then applied to a swarm of unmanned aerial vehicles. Simulation results are provided to support the results obtained.