Wildlife Monitoring Using a Multi-UAV System with Optimal Transport Theory

This paper addresses a wildlife monitoring problem using team of unmanned aerial vehicles (UAVs) with the optimal transport theory. The state-of-the-art technology UAVs has been an increasingly popular tool to monitor compared traditional methods such as satellite imagery-based sensing or GPS trackers. However, there still exist unsolved problems how need cover spacious domain detect animals many possible. In this paper, we propose transport-based strategy for multi-UAV system, prioritize areas while incorporating complementary information trackers and satellite-based sensing. Through proposed scheme, can explore large-size effectively collaboratively given priority. time-varying nature due their movements is modeled stochastic process, which included in work reflect spatio-temporal evolution position estimation. way, plan lead high detection rate. Various simulation results including statistical data are provided validate work. all different simulations, it shown that scheme significantly outperforms other UAV-based strategies terms target rate up 3.6 times.