# Emergent Search of UAV Swarm Guided by the Target Probability Map
## 4 The Steps of ESUSTPM
The classical random searching algorithm and the searching algorithm based on the Boids model without guidance need to spend more time searching three targets. Among the five searching algorithms, the proposed ESUSTPM algorithm is the most efficient in finding each target in the searching process. The above statistical results show that the proposed algorithm is more efficient in the reduction of environmental uncertainty and target search mission. In addition, the proposed ESUSTPM algorithm is robust to the accurate degree of prior information. In all, the proposed ESUSTPM algorithm is suitable to be applied in a cooperative searching scenario of the UAV swarm. ## 6 Conclusions

The conventional heuristic cooperative searching algorithms have a certain amount of calculation burden. In pace with the increase in the searching complexity, the amount of calculation becomes heavier. Therefore, an intelligent algorithm with fast calculation and highest searching efficiency is needed. Therefore, a novel cooperative search method, named the emergent search of UAV swarm, guided by the target probability map, is proposed in this paper. ESUSTPM is a new searching algorithm whereby each monomer decides its next velocity by acquiring the information of some closest neighbors and the surrounding environment. The exponential constructed function is designed and optimized

Figure 30: Time cost distribution of the three targets search. Figure 29: The environment uncertainty of the five algorithms. to keep the given distance between the agents for obstacle avoidance and communication connectivity. The TPM is firstly proposed to guide the monomer to search the grid with the highest target existing probability emergently. The simulation results show that the controllers designed by the proposed searching algorithm can guide the UAV monomers to cover the mission area, find the hidden targets and decrease the environmental uncertainty as far as possible. In addition, the statistical results of ESUSTPM show that the searching efficiency also outperforms the conventional searching algorithms. Emergence is a new concept, and its mechanism is suitable to be adopted to execute the complex area searching mission. It is also worth being extended to other scenarios in the future. Conceptualization, S.L., W.Y. and X.Z. ; methodology, S.L. ; software, S.L. and Y.Z. ; validation, S.L. and B.Z. ; formal analysis, S.L. ; investigation, S.L. and X.Z. ; resources, S.L. ; data curation, S.L. and B.Z. ; writing--original draft preparation, S.L. ; writing--review and editing, S.L. ; visualization, S.L. ; supervision, S.L., W.Y. and X.Z. ; project administration, S.L., W.Y. and X.Z. All authors have read and agreed to the published version of the manuscript. This research received no external funding. Not applicable. The authors declare no conflict of interest. ## References

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