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<p>This study introduces an innovative control approach for deploying multiple unmanned aerial vehicles (UAVs) to monitor an unknown flood region. The proposed strategy is designed to optimally distribute UAVs across the flood-affected area while cooperatively estimating the extent of inundation. To achieve this, an adaptive coverage controller is developed based on Centroidal Voronoi Tessellation (CVT), incorporating a novel mechanism for dynamically updating the density function. Within this framework, the density function serves as an evolving representation of the estimated inundation areas, allowing UAVs to adjust their positions adaptively in response to real-time environmental changes. The effectiveness of the proposed control strategy is validated through simulations conducted in the ROS/Gazebo environment, demonstrating its capability to enhance the accuracy of flood monitoring and improve the spatial distribution of UAVs.</p>

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A control strategy for monitoring unknown flood regions by multiple UAVs

  • 期刊论文

  • 发表日期：

    2026年2月25日

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  • Jie Song,
  • Yang Bai,
  • Mikhail Svinin,
  • Evgeni Magid,
  • Naoki Wakamiya

摘要

This study introduces an innovative control approach for deploying multiple unmanned aerial vehicles (UAVs) to monitor an unknown flood region. The proposed strategy is designed to optimally distribute UAVs across the flood-affected area while cooperatively estimating the extent of inundation. To achieve this, an adaptive coverage controller is developed based on Centroidal Voronoi Tessellation (CVT), incorporating a novel mechanism for dynamically updating the density function. Within this framework, the density function serves as an evolving representation of the estimated inundation areas, allowing UAVs to adjust their positions adaptively in response to real-time environmental changes. The effectiveness of the proposed control strategy is validated through simulations conducted in the ROS/Gazebo environment, demonstrating its capability to enhance the accuracy of flood monitoring and improve the spatial distribution of UAVs.