B.Rinner

B.Rinner

B.Rinner

http://uav.aau.at/

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Field of View (FOV)

Drone

Environment

Ground station

Communication link

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Local

processing

Information

merging

Motion

planning

Observation

Path

Local

environment

perception

Global

environment

perception

Drone

Team members

(Drones)

Environment

perception

Movement

decisions

Coordination

Team members

(Drones)

Sensor

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•0 2 4 6 8 10 12 14

60

80

100

120

140

160

180

Communication range (Euclidean distance)

Avera

ge tim

e s

teps (

T)

CC

CD

DD

DC

waits for the return of all the UAVs

overlapping paths are unlikely

(less information merging)

information merging is delayed

till the return of all the UAVs

Grid of 10x10 cells, Number of UAVs (A) = 2, B = 1,

p = 0.9, q = 0.2, θ = 0.9, P0=0.5.

Motion

planning

Information

merging

CC CD

DC DD

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B.Rinner

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