Research Article
Cooperative Search by Multiple Unmanned Aerial Vehicles in a Nonconvex Environment
Figure 9
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 |