We present an algorithm for the modeling and management of groups of autonomous Unmanned Aerial Vehicles (UAV). The algorithm extends a previous work in which aircraft were considered individually. In this paper, we decompose the algorithm into two computational levels: one for the centralized control of groups of UAVs, or "swarms", and one modeling the distributed behavior of individual UAVs within these swarms. We examine a number of scenarios and compare the impact of communication latency on the intra-swarm and inter-swarm separations.
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