Decentralized Perimeter Surveillance Using a Team of UAVs
Derek B. Kingston, Randal W. Beard, Ryan S. Holt · IEEE Transactions on Robotics · 2008
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.