Paper accepted in IEEE ICRA 2014

Our paper “Information Merging in Multi-UAV Cooperative Search,” is accepted in IEEE International Conference on Robotics and Automation 2014.

The paper investigates probabilistic information merging strategies for cooperative search using multiple UAVs. The objective is to determine the impact of cooperation and type/amount of information exchange on search time and detection errors. Local occupancy grids are used to represent target existence, to update its belief with local observations and to merge information from other UAVs. Our merging strategies perform Bayes updates of the occupancy probabilities while considering realistic limitations in
sensing, communication and UAV movement—all of which are important for small-scale UAVs.

Successful experiments with multiple quadrotors

We have demonstrated a multi-UAV coverage scenario with three quadrotors working together to make an overview image of a large area. The vehicles were equipped with cameras and they followed pre-computed flight paths, taking high-quality pictures at certain points. The collected images were immediately transmitted to a ground station, where the mission progress could be readily overseen and changed if necessary.

Check out our multi-UAV system in action! The video was nominated for Best Student Video in AAAI ( and was awarded second place.