A Robust Self-Organizing UAV Swarm with Loss Compensation Strategies for Efficient Mission Execution

This research proposes a method for self-organizing a UAV swarm team that can effectively execute missions even if the team loses a leader or other followers. The method includes automatic leader selection, self-organization and formation of UAV, and loss compensation strategies for leaders or followers. An extensive simulation study of the proposed method has been conducted to verify the effectiveness and applicability of the method. The formation flight formed by this method can allow the positions of multiple drones to be evenly distributed. It can provide map construction on the ground based on the UAV group, quick target search, and collaborative transportation of objects.