Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing the flocking behavior of UAVs based on the concept of Virtual Centroid to easily develop a structure for the flock. The approach builds on the classical virtual-based behavior, providing a theoretical framework for incorporating enhancements to dynamically control both the number of agents and the formation of the structure. Simulation tests and real-world experiments were conducted, demonstrating its simplicity even with complex formations and complex trajectories.
@article{arxiv.2601.21772,
title = {Flocking behavior for dynamic and complex swarm structures},
author = {Carmen D. R. Pita-Romero and Pedro Arias-Perez and Miguel Fernandez-Cortizas and Rafael Perez-Segui and Pascual Campoy},
journal= {arXiv preprint arXiv:2601.21772},
year = {2026}
}