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arXiv · 2601.21772

Flocking behavior for dynamic and complex swarm structures

Carmen D. R. Pita-Romero·Pedro Arias-Perez·Miguel Fernandez-Cortizas·Rafael Perez-Segui·Pascual Campoy
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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.

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Carmen D. R. Pita-Romero, Pedro Arias-Perez, Miguel Fernandez-Cortizas, Rafael Perez-Segui, Pascual Campoy. 2026-01-29. Flocking behavior for dynamic and complex swarm structures. https://doi.org/10.1109/icuas65942.2025.11007905

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