AI 中文总结
研究在有界线性时态逻辑任务规范下无人机群的分布式连续空中监视，提出将团队分固定锚点和移动工作者，构建通信拓扑，证明协调动力学有限时间收敛，用信息论优化框架合成参考配置，实现持续监视覆盖及多种特性。
AI 中文摘要
使用多无人机系统进行持续空中监视，需要分散协调、团队持续重新配置，且在机载能量和通信受限情况下保证任务正确性。本文针对有界线性时态逻辑任务规范，开发了用于连续空中监视的分布式框架。该方法将无人机团队分为固定锚点和循环替换模式下的移动工作者，构建受深度神经网络启发的通信拓扑实现完全分散协调。通过证明工作者-代理协调动力学的有限时间收敛，保证任务规范的有限时间满足。为最大化传感效率，用信息论优化框架合成新部署工作者代理的参考配置。最后，分散式四旋翼控制器仅用本地通信实现分布式参考。数值模拟展示了团队循环重新配置、分散通信拓扑合成、有限时间编队收敛和经认证的持续监视覆盖。
英文摘要
Persistent aerial surveillance using multi-unmanned aerial systems (UASs) requires decentralized coordination, continuous team reconfiguration, and provable mission correctness despite limited onboard energy and communication constraints. This paper develops a distributed framework for continuous aerial surveillance under bounded Linear Temporal Logic (LTL) mission specifications. The proposed approach partitions the UAS team into stationary anchors and mobile workers operating under cyclic replacement modes, and constructs a deep neural network (DNN)-inspired communication topology that enables fully decentralized coordination through local interactions. A hierarchical bounded LTL specification formally captures mode-to-mode reference consistency, cyclic team rotation, finite-time reachability, trajectory tracking, and prescribed surveillance coverage. By proving the finite-time convergence of the worker-agent coordination dynamics, the paper guarantees the finite-time satisfaction of the mission specification. To maximize sensing effectiveness, an information-theoretic optimization framework synthesizes the reference configuration of newly deployed worker agents by minimizing the Kullback--Leibler divergence between the surveillance-node distribution and the induced coverage density. The resulting reference configuration uniquely determines a deterministic, mode-dependent communication topology, eliminating online communication-graph optimization while preserving the formal mission guarantees. Finally, a decentralized quadrotor controller realizes the distributed references using only local communication. Numerical simulations demonstrate cyclic team reconfiguration, decentralized communication-topology synthesis, finite-time formation convergence, and certified persistent surveillance coverage.
