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Terrain Surveillance Coverage using Cognitive Adaptive Optimization

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A centralized cognitive‐based adaptive methodology for optimal surveillance coverage using swarms of MAVs has been developed, mathematically analyzed and tested using extensive simulation experiments. The methodology has been successfully tested on a large variety of 2D and 3D non‐convex unknown environments. Moreover, the methodology has been applied using real‐data from the Birmensdorf test area and the ETHZ’s hospital area. A decentralized version of the methodology has been also proposed and evaluated for the 2D case.

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