Towards Autonomous Multi-UAVs Surveillance Mission: A Study of Nigerian Telecommunication Masts Surveillance
Sagir Yusuf, Ibrahim Abdullahi, Adamu Bappi, Aliyu Aliyu, Bala Modi, Usman Y. Ibrahim · 2021
This paper proposes a multi-drone surveillance coordination algorithm that controls the random behaviour of naturally-inspired strategies. The main drawback of naturally inspired strategies, such as Levy flight, is the agents' poor coordination and redundant search (continuous exploration of single location within minimum time and space). The redundant search was removed by assigning probability values to cells and subjecting agents' waypoints acceptance to distance and time threshold. The proposed algorithm ensures broad coverage, minimised redundant search, scalability, and adaptable swarm coordination. The benefits of the algorithm were evaluated on the simulation of the Nigerian telecommunication masts surveillance mission using a proposed architecture. Future work focuses attention on the implementation of algorithms on real drones and sensor information organisations.