Multi-UAV Coverage Strategy with V-shaped Formation for Patrol and Surveillance

This paper presents a multi-UAV coverage strategy using a V-shaped formation with requirements to maximize the sweep coverage rate and minimize flight time. The leader-follower model-based strategy combines a V-shaped formation control at which behavior-based control is used to allow the UAVs to follow virtual points on a virtual V-shaped structure created by the leader UAV, and an optimal coverage path planner to provide a single path in back-and-forth pattern for the formation. We have evaluated our proposed approach in simulations and achieved high performance in both two the stated metrics.