I. Introduction
Due to its computationally simple characteristic, Particle Swarm Optimization (PSO) can be used as an efficient search mechanism in the context of Swarm Robotics, in which a large number of robotic systems are used to collectively search for certain points in an unknown environment [26]. In this paper we address the application of PSO on robotic search scenarios and focus on the dynamic of the environment. We intend to model the unknown dynamics of the environment (such as wind, flow, etc.) and propose a new PSO-based approach for aerial micro-robots which can cope with such dynamics.