An algorithm for collaborative patrolling systems with unmanned air vehicles and unmanned ground vehicles

In the past decade Unmanned Vehicles have become a topic of interest in many research organizations. Unmanned vehicles based systems are integrated to many applications in various areas ranging from military missions to wildfire detection. Recently, there has been a great interest to design collaborative systems of unmanned air vehicles (UAV) and unmanned ground vehicles (UGV). This paper proposes a new algorithm that can be used to calculate optimal UAV paths and UAV-UGV quantities to cover a target area. This algorithm is useful for patrolling systems based on the collaboration of unmanned air vehicles and unmanned ground vehicles.