ABSTRACT
This chapter discusses operations concern generic robotic problems such as deployment, patrolling and foraging. The deployment problem considers the number of needed Unmanned Aerial Vehicles (UAVs) for a specific situation and their initial locations. The deployment problem is deciding the number of UAVs and where they will be initially located before performing the mission using their control strategy. The application to homogeneous point UAVs and heterogeneous groups of UAVs with various sensori-motor capabilities differ by recourse to power diagrams: generalized Voronoi diagrams with additive weights. Cooperative UAVs have to move to complete their tasks while maintaining communication among themselves without the aid of a communication infrastructure. The initial deployment of UAVs from the ground and the re-deployment of UAVs once an area is searched are investigated to reduce energy costs and search time. UAV coordination has to be reached in the presence of multiple uncertainties in the environment and in the communication channels.
