Cooperative Search by Multiple Unmanned Aerial Vehicles in a Nonconvex Environment

Figure 6

Diffeomorphism of the nonconvex region. (a) and (c) are the two examples of the original nonconvex region with 10 randomly sampled points. (b) and (d) are the transformed convex regions with the transformed image of the sampled points by diffeomorphism.

(a) Sampled points in original

(b) Point images in transformed

(c) Sampled points in original

(d) Point images in transformed