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Decentralized Perimeter Surveillance Using a Team of UAVs

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3 Author(s)
Kingston, D. ; Air Force Res. Lab., Wright-Patterson AFB, OH ; Beard, R.W. ; Holt, R.S.

This paper poses the cooperative perimeter-surveillance problem and offers a decentralized solution that accounts for perimeter growth (expanding or contracting) and insertion/deletion of team members. By identifying and sharing the critical coordination information and by exploiting the known communication topology, only a small communication range is required for accurate performance. Simulation and hardware results are presented that demonstrate the applicability of the solution.

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Robotics, IEEE Transactions on  (Volume:24 ,  Issue: 6 )