Evidential map-building approaches for multi-UAV cooperative search

This paper addresses the map building problem for cooperative search by a team of uninhabited air vehicles (UAVs) operating in an unknown and uncertain environment . We present and compare two evidential map-building approaches based on Bayesian theory and Dempster-Shafer theory respectively. We illustrate how to utilize the generated maps into the UAVs path planning procedure so that they could cooperatively localize targets in the environment. The simulation results illustrate the effectiveness of the proposed strategies.