Navigating UAVs for Optimal Monitoring of Groups of Moving Pedestrians or Vehicles

Hailong Huang, Andrey V. Savkin

Research output: Journal article publicationJournal articleAcademic researchpeer-review

2 Citations (Scopus)


This paper focuses on navigating a team of unmanned aerial vehicles (UAVs) equipped with cameras to monitor groups of ground pedestrians or vehicles that move along given paths with unkown, time-varying but bounded speeds. The objective is to deliver a high-quality surveillance of the pedestrians or vehicles. We formulate a surveillance problem which requires the UAVs to monitor the pedestrians or vehicles from as short as possible distances. We propose a navigation algorithm that enables each UAV to determine its movement locally with a minor participation of a central station. We prove that this algorithm is locally optimal. Simulations confirm its performance.

Original languageEnglish
Article number9374712
Pages (from-to)3891-3896
Number of pages6
JournalIEEE Transactions on Vehicular Technology
Issue number4
Publication statusPublished - Apr 2021
Externally publishedYes


  • Aerial surveillance
  • Internet of flying robots
  • UAVs
  • coverage
  • drones
  • mobile ground targets
  • navigation

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Electrical and Electronic Engineering
  • Applied Mathematics

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