A small Unmanned Aerial Vehicle (UAV) cannot be equipped with many sensors for target localization since it suffers drawbacks such as payload weight limit. However, such a shortcoming could be resolved by allocating sensors to multiple small UAVs through an information-sharing strategy. While many literatures have extensively studied cooperative maneuver with homogeneous sensors, cooperation of heterogeneous sensors (bearing-only and range-only sensors) has not been fully analyzed yet. Hence, this paper examines analytically and numerically characteristics of two UAVs, one with a bearing-only sensor and the other with a range-only sensor. This study shows that the resultant behavior differs considerably from that of cooperative maneuvers with homogeneous sensors.
Financed by the National Centre for Research and Development under grant No. SP/I/1/77065/10 by the strategic scientific research and experimental development program:
SYNAT - “Interdisciplinary System for Interactive Scientific and Scientific-Technical Information”.