Randomized Algorithm for UAVs Group Flight Optimization

The problem of small UAVs flight optimization is considered. To solve this problem thermal updrafts are used. For the precise detection of the thermal updrafts center the simultaneous perturbation stochastic approximation (SPSA) type algorithm is proposed. If UAVs use thermal updrafts so they can save the energy during the flight. Therefore the flight time will be vary for different UAVs. In order to optimize the area monitoring, the consensus approach has been proposed.