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