With the development of autonomous systems, the operational use of loitering munition is shifting from the following of a preplanned fixed route without communication to smart decision-making and collaborative cooperation with sharing information. In this paper, we study the autonomous decision-making and cooperative control strategy of online patrolling for a swarm of loitering munitions using communication to coordinate their route based on maximizing the information they gathered in the operation region. Taking the non-Gaussian nonlinear property of airborne radar seeker into account, we utilized a particle filter-based method to evaluate or to predict the information quality of each action candidate. We also implemented a coordinate descent scheme to enable a distributed and scalable swarm decision-making. Simulation results show that the proposed method provides a better estimation than baselines without the need for external or centralized decision agent.

中文翻译：

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带有非线性搜索器测量的协同游荡弹药群在线巡逻路径规划

随着自治系统的发展，游荡弹药的业务使用已从遵循预先计划的不进行通信的固定路线转变为明智的决策和共享信息的协作。本文研究了一群游荡弹药的在线巡逻的自主决策和协同控制策略，该方法利用通信来协调其路线，同时最大化他们在作战区域收集的信息。考虑到机载雷达导引头的非高斯非线性特性，我们采用了基于粒子滤波的方法来评估或预测每个行动候选者的信息质量。我们还实施了协调下降方案，以实现分布式和可扩展的群体决策。