Flying Swarm of Drones Over Circulant Digraph

Drones are critical to military collaborative engagement, surveillance, and monitoring of areas of interest. They also play an increasingly influential role in commercial applications. We describe a new innovative method for collisionless, survivable, and persistent flying of given k drones over 2n waypoints that results in dispersed coverage of a given area of interest, where n > k ≥ 3 and k divides n. Our method is fundamentally different than any known to date since it does not need sensors to avoid collisions between drones. In addition, the flight of drones does not have to be coordinated.