Multiple UAV cooperative searching operation using polygon area decomposition and efficient coverage algorithms

This paper focuses on the problem of cooperatively searching a given area to detect objects of interest, using a team of heterogenous unmanned air vehicles (UAVs). The paper presents algorithms to divide the whole area taking into account UAV's relative capabilities and initial locations. Resulting areas are assigned among the UAVs, who could cover them using a zigzag pattern. Each UAV has to compute the sweep direction which minimizes the number of turns needed along a zigzag pattern. Algorithms are developed considering their computational complexity in order to allow near-real time operation. Results demonstrating the feasibility of the cooperative search in a scenario of the COMETS multi-UAV project are presented.