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This article proposes a collaborative control framework for an autonomousaerial swarm tasked with the surveillance of a convex region of interest. EachMobile Aerial Agent (MAA) is equipped with a Pan-Tilt-Zoom (PTZ) camera ofconical FOV and suffers from sensor-induced positional uncertainty. Byutilizing a Voronoi-free tessellation strategy and a gradient scheme, theheterogeneous swarm self-organizes in a distributed manner to monotonicallyachieve optimal collective visual coverage of the region of interest, both interms of quality and total area. Simulation studies are offered to investigatethe effectiveness of the suggested scheme.

Distributed surveillance by a swarm of UAVs operating under positional uncertainty