Fig. 9
From: Enhanced multi agent coordination algorithm for drone swarm patrolling in durian orchards
The control changes under four algorithms in the distance between the cluster center and obstacles, the distance between the cluster center and virtual navigator, and the cluster roll angle and pitch angle. (a) Average distance between the cluster center and obstacles, (b) Average distance between the cluster center and virtual navigator, (c) Average roll angle, (d) Average pitch angle.
