Probability Map Building Algorithms Design for an Unknown Dynamic Environment

In this paper, we consider the problem of building a probability map for an unknown hostile environment by utilizing a team of UAVs. Specifically, we first present a centralized map building scheme for the Boeing open experimental platform (OEP) environment, the strategy is then modified into a decentralized map building algorithm to increase the robustness of the system. Some simulation results are provided to demonstrate the validity of the proposed algorithms