Research Article
Dynamic Control Scheme of Multiswarm Persistent Surveillance in a Changing Environment
Figure 6
Dynamic swarm adjustment results of the proposed control scheme. (a) Growth rate map of DTM field; (b) AOI map of DTM field; (c) data points in DTM field; (d) initial location of C2 centers for three-swarm system; (e, f) dynamic adjustment of multiswarm system.
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