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UAV cooperation architectures for persistent sensing

With the number of small, inexpensive Unmanned Air Vehicles (UAVs) increasing, it is feasible to build multi-UAV sensing networks. In particular, by using UAVs in conjunction with unattended ground sensors, a degree of persistent sensing can be achieved. With proper UAV cooperation algorithms, sensing is maintained even though exceptional events, e.g., the loss of a UAV, have occurred. In this paper a cooperation architecture is described that allows multiple UAVs to perform coordinated, persistent sensing with unattended ground sensors over a wide area. This architecture automatically adapts the UAV paths so that on the average, the amount of time that any sensor has to wait for a UAV revisit is minimized. We also describe the Simulation, Tactical Operations and Mission Planning (STOMP) software. STOMP is designed to help simulate and operate distributed sensor networks where multiple UAVs are used to collect data.