Flocking behavior for dynamic and complex swarm structures

TL;DR

This paper introduces a novel algorithm for UAV flocking behavior using Virtual Centroid, enabling dynamic control of formations and trajectories, validated through simulations and real-world tests.

Contribution

It provides a theoretical framework and practical algorithm for dynamic UAV swarm formations based on Virtual Centroid, enhancing flexibility and control.

Findings

Effective in complex formations and trajectories

Validated through simulations and real-world experiments

Simplifies UAV flocking control

Abstract

Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing the flocking behavior of UAVs based on the concept of Virtual Centroid to easily develop a structure for the flock. The approach builds on the classical virtual-based behavior, providing a theoretical framework for incorporating enhancements to dynamically control both the number of agents and the formation of the structure. Simulation tests and real-world experiments were conducted, demonstrating its simplicity even with complex formations and complex trajectories.