1. Multidrone flight trajectories and corresponding order parameters.
Multidrone flight trajectories and corresponding order parameters. Ten-minute trajectory sections of 30 drones in the horizontal plane for (A) 4 m/s, (B) 6 m/s and (C) 8 m/s flights, representing a selection of typical flight patterns. Blue squares show the boundaries of the virtual arena. (A) The trajectories show diagonal linear motion of the flock, bouncing back from the right-angled corners. Trajectory colors represent speed in the horizontal plane, whereas a random single trajectory is highlighted in gray scale. (B) The motion is still locally correlated, but the obstacles (red shapes) induce a very rich dynamic pattern, resembling lively flocks of birds or other animals. (C) The trajectories show a highly correlated close-to-circular flight. Colors and line styles are mapped to individual drones here; black dots show terminal positions of drones. (D) Comparison of the three qualitatively different behaviors of (A) to (C) with the timeline of a dedicated order parameter: the average normalized velocity, expressed in local angle polar coordinates (ϕLAP).
Gábor Vásárhelyi et al. Sci. Robotics 2018;3:eaat3536
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