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Authors: Yaniv Altshuler 1 ; Vladimir Yanovsky 1 ; Israel A. Wagner 2 and Alfred M. Bruckstein 1

Affiliations: 1 Technion, Israel ; 2 Technion; MATAM, Israel

Abstract: This work examines the Cooperative Hunters problem, where a swarm of UAVs is used for searching after one or more “smart targets” which are moving in a predefined area, while trying to avoid detection by the swarm. By arranging themselves into an efficient flight configuration, the UAVs optimize their integrated sensing capability, and are thus capable of searching much larger ter- ritories than a group of uncooperative UAVs. The problem was introduced in [1], while similar work appears also in [4–7]. This work presents two decentralized cooperative search algorithms which demonstrate major improvements over the algorithm and analysis presented in [1]. The first algorithm uses improved flying patterns which achieve superior search performance. An analytic optimality proof for the algorithm’s performance is presented. The second algorithm is a fault tolerant algorithm which allows the UAVs to search in areas whose shapes and sizes are unknown in advance (unlike the rectangular shapes only, in [1]). Due to space constraints many technical and experimental details were omitted. Such details will appear in a longer version of this work. (More)

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Paper citation in several formats:
Altshuler, Y.; Yanovsky, V.; A. Wagner, I. and M. Bruckstein, A. (2005). The Cooperative Hunters — Efficient Cooperative Search For Smart Targets Using UAV Swarms. In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS; ISBN 972-8865-34-1, SciTePress, pages 165-170. DOI: 10.5220/0001193001650170

@conference{mars05,
author={Yaniv Altshuler. and Vladimir Yanovsky. and Israel {A. Wagner}. and Alfred {M. Bruckstein}.},
title={The Cooperative Hunters — Efficient Cooperative Search For Smart Targets Using UAV Swarms},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS},
year={2005},
pages={165-170},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001193001650170},
isbn={972-8865-34-1},
}

TY - CONF

JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS
TI - The Cooperative Hunters — Efficient Cooperative Search For Smart Targets Using UAV Swarms
SN - 972-8865-34-1
AU - Altshuler, Y.
AU - Yanovsky, V.
AU - A. Wagner, I.
AU - M. Bruckstein, A.
PY - 2005
SP - 165
EP - 170
DO - 10.5220/0001193001650170
PB - SciTePress

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