{"id":"https://openalex.org/W4389665619","doi":"https://doi.org/10.1109/iros55552.2023.10341413","title":"Bio-Inspired 3D Flocking Algorithm with Minimal Information Transfer for Drones Swarms","display_name":"Bio-Inspired 3D Flocking Algorithm with Minimal Information Transfer for Drones Swarms","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665619","doi":"https://doi.org/10.1109/iros55552.2023.10341413"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341413","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://enac.hal.science/hal-04357875/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083130978","display_name":"Matthieu Verdoucq","orcid":null},"institutions":[{"id":"https://openalex.org/I100296615","display_name":"\u00c9cole Nationale de l\u2019Aviation Civile","ror":"https://ror.org/022zdgq74","country_code":"FR","type":"education","lineage":["https://openalex.org/I100296615"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Matthieu Verdoucq","raw_affiliation_strings":["École Nationale de 1' Aviation Civile, Université de Toulouse,Toulouse,France,31400","ENAC - Ecole Nationale de l'Aviation Civile (7 avenue Edouard Belin\r\nCS 54005\r\n31055 Toulouse cedex 4 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"École Nationale de 1' Aviation Civile, Université de Toulouse,Toulouse,France,31400","institution_ids":["https://openalex.org/I100296615"]},{"raw_affiliation_string":"ENAC - Ecole Nationale de l'Aviation Civile (7 avenue Edouard Belin\r\nCS 54005\r\n31055 Toulouse cedex 4 - France)","institution_ids":["https://openalex.org/I100296615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053210310","display_name":"Cl\u00e9ment Sire","orcid":"https://orcid.org/0000-0003-4089-4013"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Cl\u00e9ment Sire","raw_affiliation_strings":["CNRS & Université de Toulouse - Paul Sabatier,Laboratoire de Physique Théorique,Toulouse,France,31062"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS & Université de Toulouse - Paul Sabatier,Laboratoire de Physique Théorique,Toulouse,France,31062","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010612668","display_name":"Ram\u00f3n Escobedo","orcid":"https://orcid.org/0000-0002-9945-0460"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"id":"https://openalex.org/I4210098684","display_name":"Centre de Recherches sur la Cognition Animale","ror":"https://ror.org/0111s2360","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210096427","https://openalex.org/I4210098684","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ram\u00f3n Escobedo","raw_affiliation_strings":["Centre de Recherches sur la Cognition Animale, Centre de Biologie Intégrative (CBI), CNRS & Université de Toulouse - Paul Sabatier,Toulouse,France,31062"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre de Recherches sur la Cognition Animale, Centre de Biologie Intégrative (CBI), CNRS & Université de Toulouse - Paul Sabatier,Toulouse,France,31062","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I4210098684","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087901292","display_name":"Guy Th\u00e9raulaz","orcid":"https://orcid.org/0000-0002-3062-4215"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555"]},{"id":"https://openalex.org/I4210098684","display_name":"Centre de Recherches sur la Cognition Animale","ror":"https://ror.org/0111s2360","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210096427","https://openalex.org/I4210098684","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Guy Theraulaz","raw_affiliation_strings":["Centre de Recherches sur la Cognition Animale, Centre de Biologie Intégrative (CBI), CNRS & Université de Toulouse - Paul Sabatier,Toulouse,France,31062"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre de Recherches sur la Cognition Animale, Centre de Biologie Intégrative (CBI), CNRS & Université de Toulouse - Paul Sabatier,Toulouse,France,31062","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I4210098684","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007613403","display_name":"Gautier Hattenberger","orcid":"https://orcid.org/0000-0002-2986-5249"},"institutions":[{"id":"https://openalex.org/I100296615","display_name":"\u00c9cole Nationale de l\u2019Aviation Civile","ror":"https://ror.org/022zdgq74","country_code":"FR","type":"education","lineage":["https://openalex.org/I100296615"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Gautier Hattenberger","raw_affiliation_strings":["École Nationale de 1' Aviation Civile, Université de Toulouse,Toulouse,France,31400","ENAC - Ecole Nationale de l'Aviation Civile (7 avenue Edouard Belin\r\nCS 54005\r\n31055 Toulouse cedex 4 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"École Nationale de 1' Aviation Civile, Université de Toulouse,Toulouse,France,31400","institution_ids":["https://openalex.org/I100296615"]},{"raw_affiliation_string":"ENAC - Ecole Nationale de l'Aviation Civile (7 avenue Edouard Belin\r\nCS 54005\r\n31055 Toulouse cedex 4 - France)","institution_ids":["https://openalex.org/I100296615"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3793,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63468922,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8833","last_page":"8838"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.9598833322525024},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.9176896810531616},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.8275738954544067},{"id":"https://openalex.org/keywords/collective-motion","display_name":"Collective motion","score":0.7012369632720947},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6225939989089966},{"id":"https://openalex.org/keywords/swarm-intelligence","display_name":"Swarm intelligence","score":0.5798904895782471},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.49744442105293274},{"id":"https://openalex.org/keywords/collective-behavior","display_name":"Collective behavior","score":0.48749685287475586},{"id":"https://openalex.org/keywords/information-transfer","display_name":"Information transfer","score":0.4560735821723938},{"id":"https://openalex.org/keywords/consensus-algorithm","display_name":"Consensus algorithm","score":0.4369235038757324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40422356128692627},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3452473282814026},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3241133987903595},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.27745503187179565}],"concepts":[{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.9598833322525024},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.9176896810531616},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8275738954544067},{"id":"https://openalex.org/C2780499737","wikidata":"https://www.wikidata.org/wiki/Q24755076","display_name":"Collective motion","level":2,"score":0.7012369632720947},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6225939989089966},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.5798904895782471},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.49744442105293274},{"id":"https://openalex.org/C100339178","wikidata":"https://www.wikidata.org/wiki/Q2548752","display_name":"Collective behavior","level":2,"score":0.48749685287475586},{"id":"https://openalex.org/C8854915","wikidata":"https://www.wikidata.org/wiki/Q4350200","display_name":"Information transfer","level":2,"score":0.4560735821723938},{"id":"https://openalex.org/C2983222225","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus algorithm","level":2,"score":0.4369235038757324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40422356128692627},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3452473282814026},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3241133987903595},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.27745503187179565},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros55552.2023.10341413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341413","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04357875v1","is_oa":true,"landing_page_url":"https://enac.hal.science/hal-04357875","pdf_url":"https://enac.hal.science/hal-04357875/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, pp.8833-8838, 2023, ⟨10.1109/IROS55552.2023.10341413⟩","raw_type":"Proceedings"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04357875v1","is_oa":true,"landing_page_url":"https://enac.hal.science/hal-04357875","pdf_url":"https://enac.hal.science/hal-04357875/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, pp.8833-8838, 2023, ⟨10.1109/IROS55552.2023.10341413⟩","raw_type":"Proceedings"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2218042498","display_name":null,"funder_award_id":"ANR-20-CE45-0006-1","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G7145731901","display_name":null,"funder_award_id":"ANR-20-CE45-0006","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320328356","display_name":"R\u00e9gion Occitanie Pyr\u00e9n\u00e9es-M\u00e9diterran\u00e9e","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4389665619.pdf"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W2045481323","https://openalex.org/W2096606660","https://openalex.org/W2098044719","https://openalex.org/W2125812322","https://openalex.org/W2162230867","https://openalex.org/W2770398551","https://openalex.org/W2784186719","https://openalex.org/W2883383381","https://openalex.org/W2884236119","https://openalex.org/W2967739867","https://openalex.org/W2978626209","https://openalex.org/W2983056308","https://openalex.org/W3012474544","https://openalex.org/W3044673138","https://openalex.org/W3102795568","https://openalex.org/W3130791139","https://openalex.org/W3176202740","https://openalex.org/W4220744732","https://openalex.org/W4225846740","https://openalex.org/W4229007520","https://openalex.org/W4288047809"],"related_works":["https://openalex.org/W3080778595","https://openalex.org/W4387113913","https://openalex.org/W1504268856","https://openalex.org/W2391207934","https://openalex.org/W3098472664","https://openalex.org/W2279927153","https://openalex.org/W4288009524","https://openalex.org/W2580317892","https://openalex.org/W2990729363","https://openalex.org/W3008431084"],"abstract_inverted_index":{"This":[0],"article":[1],"introduces":[2],"a":[3,9,14,46,58,78,108],"bio-inspired":[4],"3D":[5],"flocking":[6,148],"algorithm":[7],"for":[8,114],"drone":[10],"swarm,":[11],"built":[12],"upon":[13],"previously":[15],"established":[16],"2D":[17],"model,":[18],"which":[19],"has":[20],"proven":[21],"to":[22,155],"be":[23],"effective":[24],"in":[25,107,126,162],"promoting":[26],"stability,":[27],"alignment,":[28],"and":[29,51,89,120,134,142],"distance":[30],"variation":[31],"between":[32,49,159],"agents":[33,50],"within":[34],"large":[35],"groups":[36],"of":[37,45,57,61,72,81,84,87,144],"agents.":[38],"The":[39],"study":[40],"highlights":[41],"how":[42],"the":[43,52,69,73,82,85,93,100,140],"incorporation":[44],"vertical":[47],"interaction":[48],"acquisition":[53],"by":[54],"each":[55],"agent":[56],"minimal":[59],"amount":[60],"information":[62],"about":[63],"their":[64],"most":[65],"influential":[66],"neighbor":[67],"impacts":[68,83],"collective":[70,94,122,160],"behavior":[71],"swarm.":[74],"Additionally,":[75],"we":[76],"present":[77],"comprehensive":[79],"investigation":[80],"intensity":[86],"alignment":[88],"attraction":[90],"interactions":[91],"on":[92],"motion":[95],"patterns":[96],"that":[97],"emerge":[98],"at":[99],"group":[101],"level.":[102],"These":[103],"results,":[104],"mostly":[105],"conducted":[106],"validated":[109],"simulator,":[110],"have":[111],"significant":[112],"implications":[113],"designing":[115],"efficient":[116],"UAV":[117,146],"swarm":[118,147],"systems":[119],"using":[121],"patterns,":[123],"or":[124],"phases,":[125],"operational":[127,164],"contexts":[128],"such":[129],"as":[130,150,152],"corridor":[131],"tracking,":[132],"surveillance,":[133],"exploration.":[135],"Further":[136],"research":[137],"will":[138],"explore":[139],"effectiveness":[141],"efficiency":[143],"this":[145],"algorithm,":[149],"well":[151],"its":[153],"ability":[154],"ensure":[156],"safe":[157],"transitions":[158],"phases":[161],"different":[163],"contexts.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}