Our paper “Information Exchange and Decision Making in Micro Aerial Vehicle Networks for Cooperative Search,” is accepted for publication in accepted in IEEE Transactions on Control of Network Systems.
The article considers a network of autonomous micro aerial vehicles (MAVs) cooperatively searching for multiple stationary targets, with the objective to minimize the search time while considering sensing and communication limitations. We explore and classify the design options in multi-MAV cooperative search in two dimensions: information merging and decision making where each dimension can be either centralized or distributed. Algorithms are then introduced to analyze the effects of centralized or distributed coordination for minimizing the search time. We show that depending on the availability of information and capability of making decisions, the MAVs can search an area more efficiently if both information merging and decision making are distributed.