Fig. 6: Circle packing approximation with particle swarm optimization.
From: Drone swarm strategy for the detection and tracking of occluded targets in complex environments
Particle swarm optimization’s approximation to a packing circle in a circle solution: The possible movement of each drone in one Particle swarm optimization iteration is c1 + c2, and must be less than or equal to the minimal horizontal search distance c4. a represents the synthetic aperture area, c1 and c2 are the cognitive and social components, respectively.
