Camera-based Adaptive Line Formation and Dynamic Leader-Following Optimization (CALF-DLFO) for Drone Swarms in Real-time Updated Digital Twins

The swift advancement of drone technology presents new challenges in data analysis and integration as deployments increase. This paper addresses the complexities of managing multiple drone video feeds and controlling autonomous drone swarms to enhance situational awareness through the use of real-time updated digital twins for drone swarm command and control. We aim to enhance the effectiveness of drone swarm operations by introducing a novel method, Camera-based Adaptive Line Formation and Dynamic Leader-following Optimization (CALF-DLFO). We investigate the impact of this novel control method on area coverage and drone distribution, considering factors such as formation direction, speed, separation distance, and adjustments. Simulation experiments demonstrate a significant improvement in area coverage compared to prior methods which focused on isolated segments. Our camera-based adaptive line formation, combined with efficient drone control mechanisms, not only enhances coverage but also provides a promising approach to scalable and automated drone swarm management.