Aerial surveillance system with cognitive swarm drones

摘要

Due to the increasing computational capacity of embedded systems, the design of aerial surveillance drones became affordable. However individual robots are less efficient than those who are forming a collective. These systems mostly use decentralised algorithms and communication networks. We present a distributed, communication aided solution for a problem in which a group of autonomous mobile robots patrol over a given area and intercept the detected targets. The robots are oblivious, they use local sensing, and they can share information within their neighbourhood. We adopt the Multi-Orbit-Surrounding (MOS) based Aerial Surveillance concept into a square grid graph based environment, and we will prove that the concept can detect and surround an intruder in finite time.