Swarm Drones with QR Code Formation for Real-Time Vehicle Detection and Fusion Using Unreal Engine

A single drone collects data, but a fleet builds a complete picture, and this is the primary objective of this study. To address this goal, a swarm-based drone system has been designed in which multiple drones follow one another to collect data from diverse perspectives. Such a strategy demonstrates strong potential for use in critical fields such as search and rescue operations. This study introduces the first unified framework that integrates autonomous formation control, real-time object detection, and multi-source data fusion within a single operational UAV-swarm system. A high-fidelity simulation environment was built using Unreal Engine with the AirSim plugin, featuring a lightweight QR code tracking algorithm for inter-drone coordination. The drones were employed to detect vehicles from various angles in real time. Two types of experiments were conducted: the first used a pretrained YOLO model, and the second used a custom-trained YOLOv8-nano model, which outperformed the baseline by achieving an average detection confidence of 90%. Finally, the results from multiple drones were fused using various techniques including temporal, probabilistic, and geometric fusion methods to produce more reliable and robust detection results.