2024/06/24 by Chuanxiang Gao, Gao, Chuanxiang, Xinyi Wang +5
Computer Science · Engineering · #FOS: Computer and information sciences #Guidance and Control Systems #Military Defense Systems Analysis #Optimization and Search Problems #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2406.16370
openalex publication_date 2024/06/24 · openalex created_date 2024/06/26 · openalex updated_date 2026/07/28
The challenge of efficient target searching in vast natural environments has driven the need for advanced multi-UAV active search strategies. This paper introduces a novel method in which global and local information is adeptly merged to avoid issues such as myopia and redundant back-and-forth movements. In addition, a trajectory generation method is used to ensure the search pattern within continuous space. To further optimize multi-agent cooperation, the Voronoi partition technique is employed, ensuring a reduction in repetitive flight patterns and making the control of multiple agents in a decentralized way. Through a series of experiments, the evaluation and comparison results demonstrate the efficiency of our approach in various environments. The primary application of this innovative approach is demonstrated in the search for horseshoe crabs within their wild habitats, showcasing its potential to revolutionize ecological survey and conservation efforts.