Communication aware UAV motion coordination for source localization and tracking

This paper is concerned with optimal unmanned aerial vehicle (UAV) motion coordination for source localization and tracking, taking into account of sensor communication constraints. It is well known that this is a constrained nonlinear optimization problem. The usual way to solve this problem is to adopt a gradient like search algorithm or control strategy to obtain a local optimal solution. In this paper, we propose a novel method which targets at a global solution. In the proposed method, firstly, an analytic solution to the optimal UAV positions for source localization and tracking is derived. Then, control laws are designed to force UAVs to converge to the expected optimal positions.