Fig. 5: Detection and tracking of moving target.
From: Drone swarm strategy for the detection and tracking of occluded targets in complex environments
a Starting from the final state shown in Fig. 3, a walking person (speed: 4 m/s) was simulated: a, b moving 13 m downwards, b–d resting for 12 s, d–g moving 55 m upwards, g, h resting. i The target visibility while the swarm is tracking the person is shown, and the different convergence and divergence phases of the swarm are highlighted. Note that the yellow boxes highlight the target’s ground truth positions, the white stars indicate the target’s estimated positions, the white arrows show the movement of the drones between time steps t − 1 and t, the blue lines represent the total sampling paths of the swarm’s center of gravity, the yellow dots indicate the best sampling position at time t, and the gray area shows the integrated ground coverage at time t. Simulation parameters (see Methods for details): drones' ground speed = 10 m/s, Δh = 1 m, forest density = 300 trees/ha, n = 10, T = 16.3%, h1 = 35 m, c1 = 1 m, c2 = 2 m, c3 = 1.643 m, s = c4 = 4.2 m, c5 = 0.3. See Supplementary Movie 4.
