Mathematical Problems in Engineering / 2015 / Article / Fig 7

Research Article

Cooperative Search by Multiple Unmanned Aerial Vehicles in a Nonconvex Environment

Figure 7

Search flight trajectories of UAVs with time: (a–c) in the transformed region and (d–f) in the original region.
(a) 0 s
(b) 30 s
(c) 60 s
(d) 0 s
(e) 30 s
(f) 60 s