Survivor searching in a dynamically changing flood zone by multiple unmanned aerial vehicles

This paper presents a control strategy for survivor searching in a dynamically changing flood zone using a group of unmanned aerial vehicles (UAVs). Assuming that there are multiple groups of the survivors, the positions which are time-varying and cannot be accurately located, the control strategy requires the UAVs to optimally cover possible locations of survivors in the flood zone. A robust adaptive controller has been proposed to implement the strategy, the feasibility of which is verified under simulations in the presence of time-varying uncertainties.