A multi-UAV deployment method for border patrolling based on Stackelberg game

To strengthen border patrol measures, unmanned aerial vehicles (UAVs) are gradually used in many countries to detect illegal entries on borders. However, how efficiently deploy limited UAVs borders of large areas remains challenging. In this paper, we first model the problem deploying for as a Stackelberg game. Two players considered game: The agency is leader, who optimizes path immigrant. immigrant follower, selects certain area pass through at time after observing leader's strategy. Second, compact linear programming proposed tackle exponential growth number strategies. Third, method reduce size strategy space follower. Then, provide some theoretic results present effect parameters utilities. Experimental demonstrate positive starting and ending UAV's patrolling conditions multiple altitudes utility, show that solution outperforms two conventional strategies has strong robustness.