How to Swarm: Entropy-Based Model Parameter Analysis

In this study, we implemented our entropy-based swarm model to an autonomous waypoint navigation application for a group of multi-rotor Unmanned Aerial Vehicles (UAVs) through a set course in free space. Multi-UAVs of multiple group sizes were run with variations in parameters, and the path lengths traveled were measured to determine the most efficient configurations, and we investigated the impact of varying parameters on the swarm behavior performance. The simulation of the UAV kinematics and environment was performed in AirSim. The results show that the swarm model with different parameter setup operates successfully and the effects of the parameter selection on our multi-UAV swarm model are discussed.