Hierarchical POMDP-Based Cooperative Search and Adaptive Attitude Control Strategy for Multi-UAV Systems

To address the coupled problem of cooperative search and attitude control faced by multi-UAV systems in complex uncertain environments, a unified control strategy based on hierarchical POMDP is proposed. This strategy effectively decomposes multi-scale decision-making problems by constructing a hierarchical architecture of upper-level task planning and lower-level attitude control. The upper level employs an information-entropy-maximization search algorithm that integrates auction-based task all