Research Article
Dynamic Control Scheme of Multiswarm Persistent Surveillance in a Changing Environment
Algorithm 2
Overview of multiswarm persistent control framework.
| Initialize model parameters | (1) | Setup DTM map | (2) | repeat | (3) | If AOI changed Then Update AOI map | (4) | Target space decomposition using Clustering based method | (5) | Move Centroid i | (6) | Compute | (7) | Update swarms resource | (8) | until Termination |
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