Mobility Strategies based on Virtual Forces for Swarms of Autonomous UAVs in Constrained Environments

International audienceThe usage of autonomous unmanned aerial vehicles (UAVs) has recently become a major question. Forwide area surveillance missions, a swarm of UAVs can be much more efficient than a single vehicle. In thiscase, several aircrafts cooperate in order to fulfill a mission while avoiding collisions between each otherand with obstacles. This article proposes original distributed mobility strategies for autonomous swarms ofUAVs, the goal of which is to fulfill a surveillance mission. Our work is based on virtual forces and ourapproach allows narrow areas crossing that require a compact formation of the autonomous swarm