The utility of heterogeneous swarms of simple UAVs with limited sensory capacity in detection and tracking tasks

@article{Scheutz2005TheUO,
  title={The utility of heterogeneous swarms of simple UAVs with limited sensory capacity in detection and tracking tasks},
  author={Matthias Scheutz and Paul W. Schermerhorn and Peter H. Bauer},
  journal={Proceedings 2005 IEEE Swarm Intelligence Symposium, 2005. SIS 2005.},
  year={2005},
  pages={257-264}
}
We present a physically realizable UAV model for locating and tracking chemical clouds. Simulation results are presented for implementations of this model with two configurations, one that is faster and requires more space to avoid collisions, and one that is slower and can cover an area more densely. Heterogeneous swarms of agents are shown to have better performance than homogeneous swarms of similar size because they take advantage of the strengths of each configuration. 

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