Detection Avoidance and Priority-Aware Target Tracking for UAV Group Reconnaissance Operations

LECAR: Location Estimation-Based Congestion-Aware Routing Protocol for Sparsely Deployed Energy-Efficient UAVs

“…In this work, considering a complicated and real-world scenario where UAVs must move apart and occasionally obtain the communication scope, we consider a reconnaissance mission. Following our previous work presented in [26], we consider a mission where a small number of UAVs have the task to simultaneously search for targets in a large area while intermittently tracking the detected targets and avoiding detection by the targets. We also consider that the UAVs follow the mobility model proposed in [26].…”

“…Following our previous work presented in [26], we consider a mission where a small number of UAVs have the task to simultaneously search for targets in a large area while intermittently tracking the detected targets and avoiding detection by the targets. We also consider that the UAVs follow the mobility model proposed in [26]. Although we designed LECAR especially for the mobility model proposed in [26], the concept of LECAR can be easily adapted to any other mobility model.…”

“…We also consider that the UAVs follow the mobility model proposed in [26]. Although we designed LECAR especially for the mobility model proposed in [26], the concept of LECAR can be easily adapted to any other mobility model.…”

“…The UAVs follow this map to determine their path. Following [26], we consider that the UAVs follow a pheromone map to select their real-time routes. The UAVs must continuously survey a 10km × 10 km area, and whenever they detect any target, they must follow it.…”

“…This pheromone map is periodically exchanged between UAVs so that they can obtain an update for the entire area and complete the mission cooperatively. We encourage the interested readers to read our previously proposed work in [26] for further details.…”