Decentralized search, tasking and tracking using multiple fixed-wing miniature UAVs

This paper is concerned with integrated target search, tasking and tracking using multiple fixed-wing UAVs. The problem is to design control logic and plan the flight paths for UAVs. The fixed-wing UAVs are required to cooperatively search the potential targets and keep monitoring the found targets according to a predefined minimal revisit time. Each UAV can only communicate with its neighbors and also flight autonomy is designed for individual UAVs. Decentralized target search, task assignment and target tracking algorithms are developed and evaluated by simulations using a real miniature fixed-wing UAV model.