A comprehensive framework for designing behavior of UAV swarms

This paper aims to present a method of designing the behavior of robotic swarms, emphasizing swarms of unmanned aerial vehicles using bigraphs. The method's primary goal is to define a set of actions to be performed in subsequent moments by the members of a swarm that lead to the completion of the given task. In addition to formal definitions, an example use case is also included to demonstrate how utilizing our method allows overcoming typical difficulties related to swarm robotics engineering. The example covers verifying non-functional requirements and scaling a task both horizontally and vertically.

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Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).