Target tracking with communication constraints: An aerial perspective

In this paper, we consider the problem of tracking targets using a network of UAVs. We present a three phase approach for tracking targets using multiple UAVs. Our first step uses the disc coverage algorithm to cover all targets with minimum number of UAVs. In the next stage, we consider velocity and heading constraints of UAVs and propose algorithms for configuring their positions from one time step to the next one. Finally, we consider communication between them and propose algorithms for maintaining connectivity such that each UAV is connected to at least one other UAV in the network. We present simulation results that validate our techniques and are able to track multiple targets while simultaneously communicating between one another.