... PqNy2∗P2 yN∗PN{m 1 (P 1 , ,PN) −m 1 (Pl 1 ,P2, ,PN)} =0,P 1 ∈Pq 1 ,P 1 = Pl 1 ,Pq 1 Pq3 PqNy 1 P 1 y3∗P3 yN∗PN{m2(P 1 , ,PN) −m2(P 1 ,Pl2, ,PN)} ... 1 |Pqi| =1, z· 1 |Nj =1 j=iPqj|= 1 (43)where 1 |Pq 1 (Cs 1 )|and 1 |Nj =1 j=iPqj|are column vectors of dimensions |Pqi| and|Nj =1 j=iPqj|, with all elements equal to 1. Security ... carried out using 7 UAVs for 10 0 different sets of target posi-tions with each set having 20 targets. The a priori knowledge about numberof targets present in the space and their initial positions...