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This paper presents a novel dynamic progressively spiral-out (PSO) formation for a team of unmanned aerial vehicles (UAVs) to perform an exhaustive search of mobile ground targets. Two novel procedures are designed for a UAV to be inserted to and removed from an established PSO formation without discontinuing the confidence area. A comparison study in simulation was conducted using both randomly moving and smart avoidance targets. The results show the effectiveness of the proposed approaches.
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Brown et al. (2019) studied this question.
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