Area partitioning between teams of UAVs in decentralized and multi-agent manner for efficient patrolling

This paper deals with the control of UAV teams in decentralized manner with communication range constraint. All of the UAVs are homogenous and have the same fixed speed. There are numbers of threats in environment. The desired goal of cooperation is minimizing the discovering time of all threats. To handle this, we are partitioning the environment into segments. We call each segment as an island. In each island, there is a team of UAVs to cover that area. We use diameter function to determine search direction. To speed up covering and conquering to limitation of communication range we use two kinds of communications, inside the island and between islands. In this method if some of agents get to destroyed or for any reason get out of work (like battery charging), the system is still reliable and works properly because other agents do the works of lost agents. Results show improvement in time and reliability of this method.