On the Analysis of a Swarm Intelligence Based Coordination Model for Multiple Unmanned Aerial Vehicles

This paper presents an analysis of a model for the coordination of multiple unmanned aerial vehicles (UAVs) using a swarm intelligence approach based on Particle Swarm Optimization. The model considers locomotion constraints, anti-collision mechanisms, ad hoc communication and environmental perception information from the UAVs sensors. We analyze the performance in terms of target tracking and energy consumption. We developed a simulator with a graphic user interface to allow the visual analysis of the swarm of UAVs.