Fig. 3: Swarm Formation Principle.
From: An autonomous drone swarm for detecting and tracking anomalies among dense vegetation
a Pseudocode of PSO iteration with divergence branch (lines 2-4) and convergence branch (lines 6-8). b The packing-circles- in-circle solution of our minimal horizontal distance constraint defines the relationship between PSO hyperparameters and SA diameter a. The smaller circles indicate the exploration+exploitation action radius of each drone during one PSO iteration: c1 + c2 ≤ c4 (e.g., see gray circle). c A relative altitude difference Δh between drones to avoid collision and self-occlusion.
