Flying multi agent control for detect an object

This paper exposes two flying vehicles control. The objective of this paper is proposing control design use optimal control approach for flying multi-agent to detect an object. In optimal control approach, beside the dynamical system model, the cost functional is needed. In this paper, the dynamical system model is dynamical system of flying vehicle and the cost functional is the functional which make the vehicles move together to detect the lost object. The scope of this exposition is how to control two flying vehicles move around an object. The two flying vehicles must satisfy the simulation scenarios as follows. Both of the flying vehicles forced do not move far each other and also do not collide each other. Besides mathematical analysis of the model, like controllability and observability of the model, the result of this paper, present the theorem and the proof the cost functional which guarantees that the booth of the vehicles can fly satisfy the scenario. The result also exposes the simulation of controlling two vehicles. The conclusion of this paper states that the optimal control method can be used to solve the problem of control two flying vehicles to detect the lost object.