Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2601.21772 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866915761167007744 |
|---|---|
| author | Pita-Romero, Carmen D. R. Arias-Perez, Pedro Fernandez-Cortizas, Miguel Perez-Segui, Rafael Campoy, Pascual |
| author_facet | Pita-Romero, Carmen D. R. Arias-Perez, Pedro Fernandez-Cortizas, Miguel Perez-Segui, Rafael Campoy, Pascual |
| contents | Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing the flocking behavior of UAVs based on the concept of Virtual Centroid to easily develop a structure for the flock. The approach builds on the classical virtual-based behavior, providing a theoretical framework for incorporating enhancements to dynamically control both the number of agents and the formation of the structure. Simulation tests and real-world experiments were conducted, demonstrating its simplicity even with complex formations and complex trajectories. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_21772 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Flocking behavior for dynamic and complex swarm structures Pita-Romero, Carmen D. R. Arias-Perez, Pedro Fernandez-Cortizas, Miguel Perez-Segui, Rafael Campoy, Pascual Robotics Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing the flocking behavior of UAVs based on the concept of Virtual Centroid to easily develop a structure for the flock. The approach builds on the classical virtual-based behavior, providing a theoretical framework for incorporating enhancements to dynamically control both the number of agents and the formation of the structure. Simulation tests and real-world experiments were conducted, demonstrating its simplicity even with complex formations and complex trajectories. |
| title | Flocking behavior for dynamic and complex swarm structures |
| topic | Robotics |
| url | https://arxiv.org/abs/2601.21772 |