Searching for a distinguishable lost target in a bounded area automatically with unmanned aerial vehicle (UAV) is a fundamental problem in the theory of physical search. This paper studies the problem in detail, presents a new and more realistic Bayesian formula representing the problem by taking communication capability of UAVs into consideration, and focuses on the case of applying a team of multiple cooperative UAVs in the field for the search, where each UAV can autonomously search the area for the target using Bayesian filtering algorithm. The perturbation of the searching performance by the different prior belief probability distribution functions is investigated. Empirical evidence findings illustrate that our approach yields improved accuracy.

中文翻译：

---

受限通信下多无人机协同搜索架构

无人驾驶飞行器（UAV）在有界区域内自动搜索可区分的丢失目标是物理搜索理论中的一个基本问题。本文详细研究了该问题，在考虑无人机通信能力的情况下，提出了一个新的、更现实的贝叶斯公式来表示该问题，并重点讨论了在该领域应用多架协作无人机组成的团队进行搜索的案例，其中每个无人机可以使用贝叶斯过滤算法自主搜索目标区域。研究了不同先验置信概率分布函数对搜索性能的扰动。经验证据表明，我们的方法提高了准确性。