SUMMARYThis paper proposes and evaluates swarming mechanisms of patrolling unmanned aerial vehicles (UAVs) that can collectively search a region for intruding UAVs. The main contributions include the development of multi-objective searching strategies and investigation of the required sensor configurations for the patrolling UAVs. Numerical results reveal that it is sometimes better to search through a region with a single swarm rather than multiple swarms deployed over sub-regions. Moreover, a large communication range does not necessarily improve search performances, and the patrolling swarm must have a speed close to the speed of the intruding UAVs to maximize the search performances.

中文翻译：

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Swarm 与 Swarm 上下文中的搜索策略和规范

摘要本文提出并评估了巡逻无人机（UAV）的集群机制，该机制可以集体搜索区域以寻找入侵的无人机。主要贡献包括开发多目标搜索策略和研究巡逻无人机所需的传感器配置。数值结果表明，有时在一个区域中搜索单个群比部署在子区域上的多个群更好。此外，较大的通信范围并不一定会提高搜索性能，巡逻群必须具有接近入侵无人机的速度才能最大限度地提高搜索性能。