06.2 - Flight Dynamics and Control (UAV related)
COOPERATIVE TRACKING ALGORITHM OF MULTIPLE UAVS USING PSO FOR AERIAL SURVEILLANCE
D.Y. Yoon¹, J.Y. Ka¹, D.J. Lee¹, Z. Wang², K.C. Wong²; ¹Hanseo University, South Korea ;²The University of Sydney, Australia
Ground sensors face FOV limits and LoS occlusions, causing shadow regions, higher uncertainty, and track loss. We propose cooperative ground–air tracking: UAVs reposition to preserve geometry, and a PSO waypoint generator replans online. ROS2–Gazebo simulations validate improved information gain and tracking stability over an FIM baseline.
DOI: 10.71945/icas2026_0709