Autonomous Patrol and Invader Detection by Coverage Controlled Quadcopters

This paper presents dynamic coverage control using multiple quadcopters for a surveillance of buildings or facilities. The surveillance system requires to move in the task area, detect and follow an invader. For observing an unknown invader, a fixed flight route cannot be chosen. In this paper, an autonomous surveillance method is proposed to detect an unknown invader considering the feature of the mounted sensor on a quadcopter. At the same time, a quadcopter follows an invader while patrolling in the task area. In order to verify the validity of the proposed method, the simulation is performed, and then the result of the simulation shows the effectiveness.