In this paper, the results of research in the field of the control of a swarm of unmanned aerial vehicles, which constitute a complex distributed system, have been described. The successful operation of this swarm directly depends on the effective interaction of individual drones and the implementation of coordinated actions aimed at a common goal. In this paper, a current problem in mathematical modeling and control theory: the decentralized control of a multi-agent system consisting of agents simulating autonomous robots to ensure the movement of a group of agents in a formation with a specified geometric shape has been examined. Problems that can be solved using group control of a swarm of unmanned aerial vehicles have been considered. Control has been implemented using an alternative collective adaptation algorithm based on the concepts of the collective behavior of adaptation objects. Adaptation mechanisms whose implementation consists of matching the parameters of a vector of adaptation automata simulating the behavior of adaptation objects in the environment have been developed. A structure for the alternative collective adaptation process, which controls the movement of a group of robots in a formation, has been developed. The obtained results will enable further research aimed at developing more adaptable control systems for swarms of unmanned aerial vehicles, increasing their autonomy, and improving decision-making algorithms capable of solving complex problems in dynamically changing environments.
Lebedev et al. (2025) studied this question.