[1] Department of Defense.Unmanned systems roadmap 2007-2032［R］.Washington DC:Createspace Independent Publishing Platform,2015.

[2] 于驷男,周锐,夏洁，等.多无人机协同搜索区域分割与覆盖［J］.北京航空航天大学学报,2015,41(1):167-173.(YU S N,ZHOU R,XIA J,et al.Decomposition and coverage of multi-UAV cooperative search area［J］.Journal of Beijing University of Aeronautics and Astronautics,2015,41(1):167-173.)

[3] 轩永波,黄长强,吴文超，等.多无人机协同搜索随机目标决策［J］.控制与决策，2013,28(5):711-715.（XUAN Y B,HUANG C Q,WU W C,et al.Cooperative search strategies of multi-UAV for random targets［J］.Control and Decision,2013,28(5):711-715.）

[4] 严明强,刘博.基于模糊C均值聚类的多无人机协同搜索策略［J］.战术导弹技术,2013(1):55-63.（YAN M Q,LIU B.Multiple UAVs cooperative search strategy based on fuzzy C-mean cluster［J］.Tactical Missile Technology,2013(1):55-63.）

[5] YANG Y L ,POLYCARPOU M M,MINAI A A.Multi-UAV cooperative search using an opportunistic learning method［J］.ASME Journal of Dynamic Systems,Measure-ment,and Control,2007,129(5):716-728.

[6] LUM C W.Coordinated searching and target identification using teams of autonomous agents［D］.Washington DC:University of Washington,2009.

[7] YANG Y L.Cooperative search by uninhabited air vehicles in dynamic environment［D］.Cincinnati:University of Cincinnati,2005.

[8] 彭辉.分布式多无人机协同区域搜索中的关键问题研究［D］.长沙：国防科学技术大学,2009.(PENG H.Research on distributed cooperative area searching of multiple unmanned aerial vehicles［D］.Changsha:National University of Defense Technology,2009.)

[9] 祁晓明,魏瑞轩,沈东,等.基于运动目标预测的多无人机分布式协同搜索［J］.系统工程与电子技术,2014,36(12):2417-2425.(QI X M,WEI R X,SHEN D,et al．Distributed cooperative search methods of multi-UAV based on prediction of moving targets［J］.Systems Engineering and Electronics,2014,36(12):2417-2425.)

[10] 沈东,魏瑞轩,祁晓明，等.基于MTPM和DPM的多无人机协同广域目标搜索滚动时域决策［J］.自动化学报,2014,40(7):1391-1403.（SHEN D,WEI R X, QI X M,et al.Receding horizon decision method based on MTPM and DPM for multi-UAV cooperative large area target search［J］.Acta Automatica Sinica,2014,40(7):1391-1403.）

[11] 祁晓明,魏瑞轩,沈东，等.面向目标不确定的多无人机鲁棒协同搜索［J］.系统工程与电子技术,2013，35(11):2303-2308.(QI X M,WEI R X,SHEN D,et al．Multi-UAV robust cooperative search against uncertain targets［J］.Systems Engineering and Electronics,2013, 35(11):2303-2308.)

[12] HU J W,XIE L H,XU J,et al.Multi-agent cooperative target search［J］.Sensors,2014,14:9408-9428.

[13] NIGAM N,BIENIAWSKI S,KROO I,et al.Control of multiple UAVs for persistent surveillance:algorithm and flight test results［J］.IEEE Transactions on Control Systems Technology,2012,20(5):1236-1251.

[14] 轩永波,黄长强,吴文超,等.运动目标的多无人机编队覆盖搜索决策［J］.系统工程与电子技术,2013,35(3):539-544.（XUAN Y B,HUANG C Q,WU W C,et al.Coverage search strategies for moving targets using multiple unmanned aerial vehicle teams［J］.Systems Engineering and Electronics,2013,35(3):539-544.）