Multiple UAV search using agent based negotiation scheme

In this paper, we present an agent based negotiation scheme for multiple UAVs performing search operation on an unknown region. The UAVs are subjected to limited sensor range and can communicate with their neighbouring UAVs only. The UAVs use negotiation as the decision making mechanism for obtaining search paths. The scheme is scalable to large number of UAVs without much computational burden. We study the performance of uncertainty reduction strategies using negotiation schemes with different levels of information structures. The simulation results show that the search based on negotiation scheme with various kinds of information structures outperforms random and greedy strategies with identical information structures.