Communication Aware UAV Swarm Surveillance Based on Hierarchical Architecture

Multi-agent unmanned aerial vehicle (UAV) teaming becomes an essential part in science mission, modern warfare surveillance, and disaster rescuing. This paper proposes a decentralized UAV swarm persistent monitoring strategy realizing continuous sensing coverage network service. A two-layer (high altitude low altitude) hierarchical structure is adopted the accurate object tracking area of interest (AOI). By introducing communication channel model its path planning, both centralized control schemes would be evaluated waypoint simulation. The service are measured by metrics link quality waypoints accuracy. connectivity over different aspects, such as stability volatility. comparison proposed algorithms presented with simulations. result shows that scheme outperforms mission especially on maintaining inner while moving objects.