Real-Time Particle Tracking using a Formation of UAVs*

In this paper the problem of real-time particle tracking is studied. Using sensor measurements, a formation of uavs autonomously find the closest point with high particle density where they enter a holding pattern. After converging to the holding pattern, one uav will remain, while the rest will go looking for other maxima. To avoid collisions between the uavs during the mission, a controller is presented which enables collision avoidance while tracking the particles.