Dynamic Control Scheme of Multiswarm Persistent Surveillance in a Changing Environment

Algorithm 2

Overview of multiswarm persistent control framework.

	Initialize model parameters
(1)	Setup DTM map
(2)	repeat
(3)	If AOI changed Then Update AOI map
(4)	Target space decomposition using Clustering based method
(5)	Move Centroid i
(6)	Compute
(7)	Update swarms resource
(8)	until Termination