Cooperative planning method for swarm UAVs based on hierarchical strategy

In this paper, the problem of controlling swarm UAVs is studied by considering a hierarchical strategy based on the local interactions. First swarm as a whole plans its own initial path using Voronoi graph and Dijkstra algorithm. Second swarm UAVs combine the low-level behaviors to yield swarm behaviors. The results achieved for such a strategy are verified by computer simulations.