A Recursive Optimization Algorithm for a Surveillance of a Convex Area

In this paper, the problem of optimal coverage of an area using a swarm of Unmanned Aerial Vehicles (UAVs) for aerial surveillance purposes is presented. Each UAV is equipped with downwards facing camera. A recursive online optimization algorithm has been developed to find the minimum number of UAVs alongside their location while maximizing the coverage-quality criterion and the percentage of the covered surveilled area. Finally, simulation has been done on a convex region of interest with an area about 0.5 kilometer square. The numerical results show that 10 UAVs was able to cover 95% of the studied area with 62% of the coverage quality criterion.