Collective gradient perception with a flying robot swarm

Abstract In this paper, we study the problem of collective and emergent sensing with a flying robot swarm in which social interactions among individuals lead to following gradient scalar field environment without need any capability. We proposed two methods—desired distance modulation speed modulation—with alignment control. former, modulate their desired neighbors latter, they depending on measurements from environment. Methods are systematically tested using metrics different models, sizes densities. Experiments conducted using: (1) kinematic simulator, (2) physics-based (3) real nano-drone swarm. Results show that methods, swarm—composed lacking ability—is able follow successfully. when distances, control is not needed but it still increases performance. However, speed, for motion. Real experiments reveal methods applicable real-life scenarios.