Multiple UAV area decomposition and coverage

Multiple UAVs can be used to cover a region effectively. Area coverage involves two stages - area decomposition into cells and path planning inside the cells. The area is decomposed using sweeping technique. For path planning inside the cells, a novel method is developed where optimal number of lanes are generated to minimize the number of UAV turns to accomplish the mission in minimum time. Also to allow operator interaction and precedence in coverage, a novel lawnmower/Zamboni planner is designed. Simulation results are presented for multiple UAVs are presented and flight test results for one UAV performing a persistent mission is presented.