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Simulation of Scale-Free Correlation in Swarms of UAVs

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Natural phenomena such as flocking in birds, known as emergence, is proved to be scale-invariant, i.e., flocks of birds exhibit scale-free correlations which give them the ability to achieve an effective collective response to external conditions and environment changes to survive under predator attacks. However, the role of scale-free correlations is not clearly understood in artificially simulated systems and thus more investigation is justifiable. In this paper, we present an attempt to mimic the scale-free behavior in swarms of autonomous agents, specifically in Unmanned Aerial Vehicles (UAVs). We simulate an agent-based model, with each UAV treated as a dynamical system, performing persistent surveillance of a search area. The evaluation results show that the correlation in swarms of UAVs can be scale-free. Since this is a part of ongoing research, open questions and future directions are also discussed.


  • Scale-free correlation
  • Collective behavior
  • Emergence
  • UAVs
  • Dynamical systems

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  • DOI: 10.1007/978-3-319-96661-8_9
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Correspondence to Shweta Singh .

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Singh, S., Kokar, M.M. (2018). Simulation of Scale-Free Correlation in Swarms of UAVs. In: Morales, A., Gershenson, C., Braha, D., Minai, A., Bar-Yam, Y. (eds) Unifying Themes in Complex Systems IX. ICCS 2018. Springer Proceedings in Complexity. Springer, Cham.

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