Cooperative Search by Multiple Unmanned Aerial Vehicles in a Nonconvex Environment

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/196730/figures/196730.fig.005a.svgz" name="196730.fig.005a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Nonconvex region <svg height="10.7866pt" id="M351" style="vertical-align:-2.150701pt" version="1.1" viewbox="-0.0498162 -8.6359 15.7842 10.7866" width="15.7842pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M699 368C699 549 574 666 407 666C186 666 23 488 23 277C23 113 129 -3 288 -13L307 -26C431 -111 501 -139 533 -147C559 -154 613 -163 658 -164L666 -141C597 -111 507 -66 430 -11L416 -1C580 42 699 190 699 368ZM601 371C601 227 518 54 381 22L354 40L278 24C175 47 120 145 120 269C120 451 235 631 398 631C540 631 601 521 601 371Z" id="g113-82"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="722" vert-adv-y="722"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,9.386,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z" id="g121-47"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="480" vert-adv-y="480"></glyph.data></g></svg> with a typical concave obstacle</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2015/196730/figures/196730.fig.005b.svgz" name="196730.fig.005b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Nonconvex region <svg height="10.7866pt" id="M352" style="vertical-align:-2.150701pt" version="1.1" viewbox="-0.0498162 -8.6359 15.7842 10.7866" width="15.7842pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M699 368C699 549 574 666 407 666C186 666 23 488 23 277C23 113 129 -3 288 -13L307 -26C431 -111 501 -139 533 -147C559 -154 613 -163 658 -164L666 -141C597 -111 507 -66 430 -11L416 -1C580 42 699 190 699 368ZM601 371C601 227 518 54 381 22L354 40L278 24C175 47 120 145 120 269C120 451 235 631 398 631C540 631 601 521 601 371Z" id="g113-82"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="722" vert-adv-y="722"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,9.386,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z" id="g121-48"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="480" vert-adv-y="480"></glyph.data></g></svg> with a convex obstacle and a complex concave obstacle</td></tr></table>

Mathematical Problems in Engineering

fig5

Figure 5

Figure 5: Cooperative Search by Multiple Unmanned Aerial Vehicles in a Nonconvex Environment 