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.


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    Title :

    Flocking Behavior for Dynamic and Complex Swarm Structures




    Publication date :

    2025-05-14


    Size :

    651060 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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