Research Article
Dynamic Control Scheme of Multiswarm Persistent Surveillance in a Changing Environment
Algorithm 3
C2 center move algorithm.
(1) | Move the C2 node of the UAVs swarm adaptively | (2) | repeat | (3) | foreach do | (4) | = FindWeightedCentroid0() | (5) | ⟵ | (6) | end |
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