ABSTRACT
In situations of catastrophes or accidents that cause a high risk
of life for people and also for the rescue team, the use of multiple
Unmanned Aerial Vehicles (UAV) can help a lot in scenarios
where the expected time of mapping and exploration is very small,
so the faster the internal environment is known and mapped, the
better the rescue strategy will be and the more likely the lives will
be saved. The help of multiple UAVs can be very advantageous
in the race against time for data collection of the scenario to be
rescued, in indoor and unknown environments, in which navigation
systems such as global positioning (GPS) are not a possible
solution. However, a proposal was created to be applied in these
cases, which uses a bioinspired method with multiple UAV for exploration
and mapping, so that each autonomous UAV starts the
process of territory exploration inspiringif in the hexagonal shape
of honeycombs of bees. However, this method used a maximum of
three UAV due to the technological limitations of the simulation
environment. Therefore, the purpose of this work was to create a
simulation environment capable of working with dozens of UAV
at the same time, so that the scalability of this method can be evaluated,
taking into account the metrics of the original work and
adding more and more UAV to the scenarios. It was observed that
the method can be scalable up to a certain number of UAVs, depending
on the area of the environment, so that when adding more
UAVs, the exploration time does not decrease, sometimes increases,
due to increased trac and the blockages generated.