Journal of Intelligent & Robotic Systems

, Volume 74, Issue 1, pp 323–332

Multiple UAV Formations for Cooperative Source Seeking and Contour Mapping of a Radiative Signal Field


DOI: 10.1007/s10846-013-9897-4

Cite this article as:
Han, J. & Chen, Y. J Intell Robot Syst (2014) 74: 323. doi:10.1007/s10846-013-9897-4


In this paper, four scenarios are presented for cooperative source seeking and contour mapping of a radiative signal field by multiple UAV formations. A source seeking strategy is adopted with saturation, and then it is modified to achieve contour mapping of the signal field with the moving source situation considered. A formation controller used for consensus problem is simplified and applied in the scenarios to stabilize the multiple UAV formation flight during source detection. The contour mapping strategy and the formation control algorithm are combined to guarantee stable source seeking and contour mapping in both circular flight path and square flight path via multiple UAV formations.


Multiple UAV formation Cooperative Source seeking Contour mapping Decentralized formation Radiative signal field 

Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  1. 1.Department of Electrical and Computer EngineeringUtah State UniversityLoganUSA
  2. 2.College of Control Science and EngineeringShandong UniversityJinanChina
  3. 3.MESA Lab, School of EngineeringUniversity of California, MercedMercedUSA

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