Bargaining Model-Based Coverage Area Subdivision of Multiple UAVs in Remote Sensing

• DOI: 10.1007/s42853-020-00053-y
• Publication Date: 2020-08-06T07:02:28Z
• Authors: Jaehwi Seol; Hyoung Il Son
• Keywords: 0209 industrial biotechnology; 02 engineering and technology

Unmanned aerial vehicles (UAVs) have recently been used for remote sensing because they can fly from low to relatively high altitudes along a planned route and obtain the corresponding resolutions. In remote sensing, the limitations of a single UAV become more apparent as the size of the exploration area increases. In such situations, a multi-UAV setup is required, along with appropriate task allocation and area subdivision. In this study, we propose area segmentation based on Rubinstein’s bargaining model for subdivision of coverage area among multiple UAVs for remote sensing. The negotiation between the two agents and the division of the territory among the three agents according to the field of view (FOV) of the UAVs were elucidated; the experiments were conducted with satellite images obtained from Google Maps. For remote sensing using multiple UAVs, we proposed an area segmentation method using weak cooperation. The segmentation was based on the Rubinsteind route and obtain the correspondiended to two as well as three agents.