Engineering Commons^™

Decentralized Perimeter Surveillance Using A Team Of Uavs, Timothy Mclain, Randal W. Beard, Derek Kingston, Ryan S. Holt, David W. Casbeer

Faculty Publications

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.