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第35行： − + − − --[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“该系统由大量多数简单的物理机器人组成”改为“该系统由大量的、多数为简单的物理机器人组成” − − --[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“同时对昆虫，蚂蚁和其他自然界中会发生群体行为的生物学研究领域也有所囊括”中的“有所囊括”改为“有所帮助” − − --[[用户:Thingamabob|Thingamabob]]（[[用户讨论:Thingamabob|讨论]]） 【审校】“'''<font color="#ff8000"> 集群机器人技术 Swarm Robotics</font>'''是通过某一种方法将多个机器人协调为一个系统，该系统由大量多数简单的物理机器人组成。”改为“'''<font color="#ff8000"> 集群机器人技术 Swarm Robotics</font>'''是一种将多个简单机器人协调为一个系统的方法。 − − − --[[用户:Thingamabob|Thingamabob]]（[[用户讨论:Thingamabob|讨论]]） 【审校】改：“该方法假定，在机器人之间以及机器人与环境之间的相互作用中会产生一种预期的集体行为。该方法经常出现在人工群体智能领域和昆虫，蚂蚁等自然界中有群体行为的生物学研究领域。” 第52行：
第43行： − 集群机器人技术的研究包括：设计机器人，物理构造及其行为控制。它受到在社会性昆虫中观察到的涌现行为的启发，但是不受其限制，这种突发行为被称为集群智能。相对简单的个体规则会产生大量复杂的群体行为。其关键组成部分是建立起持续反馈系统，该反馈系统主要来自于小组成员之间的无间断沟通。群体行为涉及到个体在合作中不断产生的变化，同时也包括整个群体展现出的行为表现。+ + − --[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“它受到在社会性昆虫中观察到的涌现行为的启发，但是不受其限制，这种突发行为被称为集群智能”改为“它受到社会性昆虫中观察到的涌现行为（被称为集群智能）的启发，并有所延伸” 第60行：
第51行： − + 第69行：
第60行： − 微型化和成本是集群机器人技术的两大关键因素。它们制约着机器人的大规模发展；因此，单个团队成员的简单性就显得尤为重要。其目的是应该基于群体级别而非单一个体级别，来激发一种群体智能方法，去实现有意义的行为。目前出现了大量关于单个机器人级别简单性目标的研究。如果能够在集群机器人技术研究中使用实际硬件操作而非通过仿真实现，就可以使研究人员遇到并解决更多问题，从而加深集群行为的研究。因此，开发用于集群智能研究的简单机器人是该领域发展中非常重要的环节。目标包括：降低单个机器人的成本，和提升它的可扩展性，从而使集群中的每个机器人对资源消耗更少，因此会提高其功率或能效。+ − --[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“其目的是应该基于群体级别而非单一个体级别，来激发一种群体智能方法，去实现有意义的行为”改为“这些机器人应当从群体层面激发出群体智能方法，以产生有意义的行为，而非在个体层面各自运行” − --[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“目前出现了大量关于单个机器人级别简单性目标的研究”改为“当下有很多针对于机器人简单性的个体层面的研究” − 与单个机器人相比，集群机器人通常可以将其给定的任务自行分解为子任务；对于部分集群指令失效的情况，集群机器人更加稳定，它们在执行不同任务时更为灵活。+ 第83行：
第72行： − 有一种叫做'''<font color="#ff8000"> LIBOT机器人系统LIBOT Robotic System</font>'''的集群系统，本质上是由一个低成本的机器人组成的户外的机器人群体。由于GPS传感器在建筑物内部通讯不畅，这些机器人同时配备了Wi-Fi设备。另外一个进行此类尝试的是个叫做'''<font color="#ff8000"> Colias</font>'''的微型机器人，该机器人在英国林肯大学的计算机智能实验室中建立。这款微型机器人建立在4厘米的圆形底盘上，其低成本和开放的平台使它兼容于各种集群机器人的应用。+ − 第93行：
第81行： − 集群机器人技术的潜在应用很多。它们包括具有微型化需求的任务（纳米机器人，微生物学），比如微型机械或人体中的分布式传感任务。集群机器人技术最有前途的应用之一是在灾难救援任务中，大量不同尺寸的机器人可以被送到救援人员无法安全到达的地方，通过红外传感器探测生命的存在。另一方面，集群机器人技术也适合需要低廉经济的设计任务，例如采矿或农业采掘任务。+ − --[[用户:Zengsihang|Zengsihang]]（[[用户讨论:Zengsihang|讨论]]） 【审校】“纳米机器人，微生物学”改为“纳米级机器人，微米级机器人” 第116行：
第103行： − 目前大多数研究成果都集中在相对小规模的集群机体上。然而，哈佛大学在2014年展示了由1,024个机器人组成的群体，这是迄今为止规模最大的机器人群体。+
无编辑摘要
Swarm robotics is an approach to the coordination of multiple robots as a system which consist of large numbers of mostly simple physical robots. It is supposed that a desired collective behavior emerges from the interactions between the robots and interactions of robots with the environment. This approach emerged on the field of artificial swarm intelligence, as well as the biological studies of insects, ants and other fields in nature, where swarm behaviour occurs.
Swarm robotics is an approach to the coordination of multiple robots as a system which consist of large numbers of mostly simple physical robots. It is supposed that a desired collective behavior emerges from the interactions between the robots and interactions of robots with the environment. This approach emerged on the field of artificial swarm intelligence, as well as the biological studies of insects, ants and other fields in nature, where swarm behaviour occurs.
'''<font color="#ff8000"> 集群机器人技术 Swarm Robotics</font>'''是通过某一种方法将多个机器人协调为一个系统，该系统由大量多数简单的物理机器人组成。该方法假定，在机器人之间以及机器人与环境之间的相互作用中，会产生一种预期的集体行为。该方法经常出现在人工群体智能领域，同时对昆虫，蚂蚁和其他自然界中会发生群体行为的生物学研究领域也有所囊括。
'''<font color="#ff8000"> 集群机器人技术 Swarm Robotics</font>'''是一种将多个简单机器人协调为一个系统的方法。该该方法假定，在机器人之间以及机器人与环境之间的相互作用中会产生一种预期的集体行为。该方法经常出现在人工群体智能领域和昆虫，蚂蚁等自然界中有群体行为的生物学研究领域。
== Definition 定义 ==
== Definition 定义 ==
The research of swarm robotics is to study the design of robots, their physical body and their controlling behaviours. It is inspired but not limited by the emergent behaviour observed in social insects, called swarm intelligence. Relatively simple individual rules can produce a large set of complex swarm behaviours. A key-component is the communication between the members of the group that build a system of constant feedback. The swarm behaviour involves constant change of individuals in cooperation with others, as well as the behaviour of the whole group.
The research of swarm robotics is to study the design of robots, their physical body and their controlling behaviours. It is inspired but not limited by the emergent behaviour observed in social insects, called swarm intelligence. Relatively simple individual rules can produce a large set of complex swarm behaviours. A key-component is the communication between the members of the group that build a system of constant feedback. The swarm behaviour involves constant change of individuals in cooperation with others, as well as the behaviour of the whole group.
集群机器人技术的研究包括：设计机器人，物理构造及其行为控制。它受到社会性昆虫中观察到的被称为集群智能的涌现行为的启发，并在此基础上进行了扩展。相对简单的个体规则会产生大量复杂的群体行为。这种现象的关键在于系统各部分进行沟通，从而建立起有持续反馈的系统。群体行为包含了个体在合作中不断产生的变化，同时也包括了整个群体展现出的行为表现。
Unlike [[distributed robotic system]]s in general, swarm robotics emphasizes a ''large'' number of robots, and promotes [[scalability]], for instance by using only local communication.<ref>{{cite book|last=Hamann|first=H.|title=Swarm Robotics: A Formal Approach|url=https://books.google.com/books?id=pnNLDwAAQBAJ|year=2018|publisher=Springer International Publishing|location=New York|isbn=978-3-319-74528-2}}</ref> That local communication for example can be achieved by [[wireless]] transmission systems, like [[radio frequency]] or [[infrared]].<ref>[http://correll.cs.colorado.edu/wp-content/uploads/correll_rus_chapter3.pdf N. Correll, D. Rus. Architectures and control of networked robotic systems. In: Serge Kernbach (Ed.): Handbook of Collective Robotics, pp. 81-104, Pan Stanford, Singapore, 2013.]</ref>
Unlike [[distributed robotic system]]s in general, swarm robotics emphasizes a ''large'' number of robots, and promotes [[scalability]], for instance by using only local communication.<ref>{{cite book|last=Hamann|first=H.|title=Swarm Robotics: A Formal Approach|url=https://books.google.com/books?id=pnNLDwAAQBAJ|year=2018|publisher=Springer International Publishing|location=New York|isbn=978-3-319-74528-2}}</ref> That local communication for example can be achieved by [[wireless]] transmission systems, like [[radio frequency]] or [[infrared]].<ref>[http://correll.cs.colorado.edu/wp-content/uploads/correll_rus_chapter3.pdf N. Correll, D. Rus. Architectures and control of networked robotic systems. In: Serge Kernbach (Ed.): Handbook of Collective Robotics, pp. 81-104, Pan Stanford, Singapore, 2013.]</ref>
Unlike distributed robotic systems in general, swarm robotics emphasizes a large number of robots, and promotes scalability, for instance by using only local communication. That local communication for example can be achieved by wireless transmission systems, like radio frequency or infrared.
Unlike distributed robotic systems in general, swarm robotics emphasizes a large number of robots, and promotes scalability, for instance by using only local communication. That local communication for example can be achieved by wireless transmission systems, like radio frequency or infrared.
与一般的'''<font color="#ff8000"> 分布式机器人系统Distributed Robotic Systems</font>'''不同，集群机器人技术强调需要大量的机器人并提高其可扩展性，例如仅使用本地通信连接。本地通信可以通过射频或红外等无线传输系统实现。
与一般的'''<font color="#ff8000"> 分布式机器人系统Distributed Robotic Systems</font>'''不同，集群机器人技术强调使用大量机器人并提高其可扩展性，例如仅使用局部通信连接。局部通信可以通过射频或红外等无线传输系统实现。
Miniaturization and cost are key factors in swarm robotics. These are the constraints in building large groups of robots; therefore the simplicity of the individual team member should be emphasized. This should motivate a swarm-intelligent approach to achieve meaningful behavior at swarm-level, instead of the individual level. <br />Much research has been directed at this goal of simplicity at the individual robot level. Being able to use actual hardware in research of Swarm Robotics rather than simulations allows researchers to encounter and resolve many more issues and broaden the scope of Swarm Research. Thus, development of simple robots for Swarm intelligence research is a very important aspect of the field. The goals include keeping the cost of individual robots low to allow scalability, making each member of the swarm less demanding of resources and more power/energy efficient.
Miniaturization and cost are key factors in swarm robotics. These are the constraints in building large groups of robots; therefore the simplicity of the individual team member should be emphasized. This should motivate a swarm-intelligent approach to achieve meaningful behavior at swarm-level, instead of the individual level. <br />Much research has been directed at this goal of simplicity at the individual robot level. Being able to use actual hardware in research of Swarm Robotics rather than simulations allows researchers to encounter and resolve many more issues and broaden the scope of Swarm Research. Thus, development of simple robots for Swarm intelligence research is a very important aspect of the field. The goals include keeping the cost of individual robots low to allow scalability, making each member of the swarm less demanding of resources and more power/energy efficient.
微型化和成本是集群机器人技术的两大关键因素。它们制约着机器人的大规模发展；因此，群体中个体的简单性就显得尤为重要。这些机器人应当从群体层面激发出群体智能方法，以产生有意义的行为，而非在个体层面各自运行。当下有很多针对于机器人简单性的个体层面的研究。如果能够使用实际硬件操作而非仿真实现在集群机器人技术研究，研究人员就可以遇到并解决更多问题，从而促进集群行为的研究。因此，开发用于集群智能研究的简单机器人是该领域发展中非常重要的环节。目标包括：降低单个机器人的成本和提升它的可扩展性，从而使集群中的每个机器人的资源消耗更少，从而提高其功效。
Compared with individual robots, a swarm can commonly decompose its given missions to their subtasks; A swarm is more robust to partial swarm failure and is more flexible with regard to different missions
Compared with individual robots, a swarm can commonly decompose its given missions to their subtasks; A swarm is more robust to partial swarm failure and is more flexible with regard to different missions
与单个机器人不同，集群机器人通常将其给定的任务分解为子任务；对于部分集群指令失效的情况，集群机器人更加稳定，它们在执行不同任务时更为灵活。
One such swarm system is the LIBOT Robotic System<ref>{{citation|doi=10.1109/CYBER.2012.6392577|chapter=Libot: Design of a low cost mobile robot for outdoor swarm robotics|title=2012 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)|pages=342–347|year=2012|last1=Zahugi|first1=Emaad Mohamed H.|last2=Shabani|first2=Ahmed M.|last3=Prasad|first3=T. V.|isbn=978-1-4673-1421-3}}</ref> that involves a low cost robot built for outdoor swarm robotics. The robots are also made with provisions for indoor use via Wi-Fi, since the GPS sensors provide poor communication inside buildings. Another such attempt is the micro robot (Colias),<ref>Arvin, F.; Murray, J.C.; Licheng Shi; Chun Zhang; Shigang Yue, "[https://www.researchgate.net/profile/Farshad_Arvin/publication/271545281_Development_of_an_autonomous_micro_robot_for_swarm_robotics/links/55e4bad008aede0b57357ed4.pdf Development of an autonomous micro robot for swarm robotics]," Mechatronics and Automation (ICMA), 2014 IEEE International Conference on , vol., no., pp.635,640, 3-6 Aug. 2014 doi: 10.1109/ICMA.2014.6885771</ref> built in the Computer Intelligence Lab at the [[University of Lincoln]], UK. This micro robot is built on a 4 cm circular chassis and is low-cost and open platform for use in a variety of Swarm Robotics applications.
One such swarm system is the LIBOT Robotic System<ref>{{citation|doi=10.1109/CYBER.2012.6392577|chapter=Libot: Design of a low cost mobile robot for outdoor swarm robotics|title=2012 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)|pages=342–347|year=2012|last1=Zahugi|first1=Emaad Mohamed H.|last2=Shabani|first2=Ahmed M.|last3=Prasad|first3=T. V.|isbn=978-1-4673-1421-3}}</ref> that involves a low cost robot built for outdoor swarm robotics. The robots are also made with provisions for indoor use via Wi-Fi, since the GPS sensors provide poor communication inside buildings. Another such attempt is the micro robot (Colias),<ref>Arvin, F.; Murray, J.C.; Licheng Shi; Chun Zhang; Shigang Yue, "[https://www.researchgate.net/profile/Farshad_Arvin/publication/271545281_Development_of_an_autonomous_micro_robot_for_swarm_robotics/links/55e4bad008aede0b57357ed4.pdf Development of an autonomous micro robot for swarm robotics]," Mechatronics and Automation (ICMA), 2014 IEEE International Conference on , vol., no., pp.635,640, 3-6 Aug. 2014 doi: 10.1109/ICMA.2014.6885771</ref> built in the Computer Intelligence Lab at the [[University of Lincoln]], UK. This micro robot is built on a 4 cm circular chassis and is low-cost and open platform for use in a variety of Swarm Robotics applications.
One such swarm system is the LIBOT Robotic System that involves a low cost robot built for outdoor swarm robotics. The robots are also made with provisions for indoor use via Wi-Fi, since the GPS sensors provide poor communication inside buildings. Another such attempt is the micro robot (Colias), built in the Computer Intelligence Lab at the University of Lincoln, UK. This micro robot is built on a 4 cm circular chassis and is low-cost and open platform for use in a variety of Swarm Robotics applications.
One such swarm system is the LIBOT Robotic System that involves a low cost robot built for outdoor swarm robotics. The robots are also made with provisions for indoor use via Wi-Fi, since the GPS sensors provide poor communication inside buildings. Another such attempt is the micro robot (Colias), built in the Computer Intelligence Lab at the University of Lincoln, UK. This micro robot is built on a 4 cm circular chassis and is low-cost and open platform for use in a variety of Swarm Robotics applications.
集群系统的一个例子是一个用于户外的低成本的机器人组成的机器人群体，叫做'''<font color="#ff8000"> LIBOT机器人系统LIBOT Robotic System</font>'''的集群机器人。由于GPS传感器在建筑物内部通讯不畅，这些机器人同时配备了Wi-Fi设备。另外一个进行此类尝试的是个叫做'''<font color="#ff8000"> Colias</font>'''的微型机器人，该机器人由英国林肯大学的计算机智能实验室研发。这款微型机器人建立在4厘米的圆形底盘上，其低成本和开放的平台使它兼容于各种集群机器人的应用。
Potential applications for swarm robotics are many. They include tasks that demand miniaturization (nanorobotics, microbotics), like distributed sensing tasks in micromachinery or the human body. One of the most promising uses of swarm robotics is in disaster rescue missions. Swarms of robots of different sizes could be sent to places rescue workers can't reach safely, to detect the presence of life via infra-red sensors. On the other hand, swarm robotics can be suited to tasks that demand cheap designs, for instance mining or agricultural foraging tasks.
Potential applications for swarm robotics are many. They include tasks that demand miniaturization (nanorobotics, microbotics), like distributed sensing tasks in micromachinery or the human body. One of the most promising uses of swarm robotics is in disaster rescue missions. Swarms of robots of different sizes could be sent to places rescue workers can't reach safely, to detect the presence of life via infra-red sensors. On the other hand, swarm robotics can be suited to tasks that demand cheap designs, for instance mining or agricultural foraging tasks.
集群机器人技术的潜在应用很多，如执行微型化需求的任务（纳米级机器人，微米级机器人），比如微型机械或人体中的分布式传感任务。集群机器人技术最有前景的应用之一是在灾难救援任务中，大量不同尺寸的机器人可以被送到救援人员无法安全到达的地方，用红外传感器探测存活的生命。另一方面，集群机器人技术也适合低消费的设计任务，例如采矿或农业采掘。
Most efforts have focused on relatively small groups of machines. However, a swarm consisting of 1,024 individual robots was demonstrated by Harvard in 2014, the largest to date.
Most efforts have focused on relatively small groups of machines. However, a swarm consisting of 1,024 individual robots was demonstrated by Harvard in 2014, the largest to date.
目前大多数研究成果都集中在相对小规模的集群机体上。而哈佛大学在2014年展示了由1,024个机器人组成的群体，这是迄今为止规模最大的机器人群体。
Another large set of applications may be solved using swarms of [[micro air vehicle]]s, which are also broadly investigated nowadays. In comparison with the pioneering studies of swarms of flying robots using precise [[motion capture]] systems in laboratory conditions,<ref>Kushleyev, A.; Mellinger, D.; Powers, C.; Kumar, V., "[https://pdfs.semanticscholar.org/b063/239bd450038531eeb2db5466eaed34a0f9a0.pdf Towards a swarm of agile micro quadrotors]" Autonomous Robots, Volume 35, Issue 4, pp 287-300, November 2013</ref> current systems such as [[Shooting Star (drone)|Shooting Star]] can control teams of hundreds of micro aerial vehicles in outdoor environment<ref>Vasarhelyi, G.; Virágh, C.; Tarcai, N.; Somorjai, G.; Vicsek, T. [https://arxiv.org/pdf/1402.3588 Outdoor flocking and formation flight with autonomous aerial robots]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014</ref> using [[Satellite navigation|GNSS]] systems (such as GPS) or even stabilize them using onboard [[robot localization|localization]] systems<ref>Faigl, J.; Krajnik, T.; Chudoba, J.; Preucil, L.; Saska, M. [http://eprints.lincoln.ac.uk/13799/1/__ddat02_staffhome_jpartridge_camera_2013_ICRA.pdf Low-Cost Embedded System for Relative Localization in Robotic Swarms]. In ICRA2013: Proceedings of 2013 IEEE International Conference on Robotics and Automation. 2013.</ref> where GPS is unavailable.<ref>Saska, M.; Vakula, J.; Preucil, L. [https://ieeexplore.ieee.org/abstract/document/6907374/ Swarms of Micro Aerial Vehicles Stabilized Under a Visual Relative Localization]. In ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation. 2014.</ref><ref>Saska, M. [https://www.researchgate.net/profile/Martin_Saska/publication/282922149_MAV-swarms_Unmanned_aerial_vehicles_stabilized_along_a_given_path_using_onboard_relative_localization/links/5684f75b08ae19758394dcdf.pdf MAV-swarms: unmanned aerial vehicles stabilized along a given path using onboard relative localization]. In Proceedings of 2015 International Conference on Unmanned Aircraft Systems (ICUAS). 2015</ref> Swarms of micro aerial vehicles have been already tested in tasks of autonomous surveillance,<ref>Saska, M.; Chudoba, J.; Preucil, L.; Thomas, J.; Loianno, G.; Tresnak, A.; Vonasek, V.; Kumar, V. [https://ieeexplore.ieee.org/abstract/document/6842301/ Autonomous Deployment of Swarms of Micro-Aerial Vehicles in Cooperative Surveillance]. In Proceedings of 2014 International Conference on Unmanned Aircraft Systems (ICUAS). 2014.</ref> plume tracking,<ref>Saska, M.; Langr J.; L. Preucil. [https://www.researchgate.net/profile/Martin_Saska/publication/290558108_Plume_Tracking_by_a_Self-stabilized_Group_of_Micro_Aerial_Vehicles/links/57040e7908ae74a08e245eeb.pdf Plume Tracking by a Self-stabilized Group of Micro Aerial Vehicles]. In Modelling and Simulation for Autonomous Systems, 2014.</ref> and reconnaissance in a compact phalanx.<ref>Saska, M.; Kasl, Z.; Preucil, L. [http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2014/media/files/2295.pdf Motion Planning and Control of Formations of Micro Aerial Vehicles]. In Proceedings of the 19th World Congress of the International Federation of Automatic Control. 2014.</ref> Numerous works on cooperative swarms of unmanned ground and aerial vehicles have been conducted with target applications of cooperative environment monitoring,<ref>Saska, M.; Vonasek, V.; Krajnik, T.; Preucil, L. [http://labe.felk.cvut.cz/~tkrajnik/ardrone/articles/formace.pdf Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach]. In Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2012.</ref> [[simultaneous localization and mapping]],<ref>Chung, Soon-Jo, et al. "[https://authors.library.caltech.edu/87925/1/tro-aerial-robotics_final.pdf A survey on aerial swarm robotics]." IEEE Transactions on Robotics 34.4 (2018): 837-855.</ref> convoy protection,<ref>Saska, M.; Vonasek, V.; Krajnik, T.; Preucil, L. [http://eprints.lincoln.ac.uk/14891/1/formations_2014_IJRR.pdf Coordination and Navigation of Heterogeneous MAV–UGV Formations Localized by a ‘hawk-eye’-like Approach Under a Model Predictive Control Scheme]. International Journal of Robotics Research 33(10):1393–1412, September 2014.</ref> and moving target localization and tracking.<ref>Kwon, H; Pack, D. J. [https://link.springer.com/article/10.1007/s10846-011-9581-5 A Robust Mobile Target Localization Method for Cooperative Unmanned Aerial Vehicles Using Sensor Fusion Quality]. Journal of Intelligent and Robotic Systems, Volume 65, Issue 1, pp 479-493, January 2012.</ref>
Another large set of applications may be solved using swarms of [[micro air vehicle]]s, which are also broadly investigated nowadays. In comparison with the pioneering studies of swarms of flying robots using precise [[motion capture]] systems in laboratory conditions,<ref>Kushleyev, A.; Mellinger, D.; Powers, C.; Kumar, V., "[https://pdfs.semanticscholar.org/b063/239bd450038531eeb2db5466eaed34a0f9a0.pdf Towards a swarm of agile micro quadrotors]" Autonomous Robots, Volume 35, Issue 4, pp 287-300, November 2013</ref> current systems such as [[Shooting Star (drone)|Shooting Star]] can control teams of hundreds of micro aerial vehicles in outdoor environment<ref>Vasarhelyi, G.; Virágh, C.; Tarcai, N.; Somorjai, G.; Vicsek, T. [https://arxiv.org/pdf/1402.3588 Outdoor flocking and formation flight with autonomous aerial robots]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 2014</ref> using [[Satellite navigation|GNSS]] systems (such as GPS) or even stabilize them using onboard [[robot localization|localization]] systems<ref>Faigl, J.; Krajnik, T.; Chudoba, J.; Preucil, L.; Saska, M. [http://eprints.lincoln.ac.uk/13799/1/__ddat02_staffhome_jpartridge_camera_2013_ICRA.pdf Low-Cost Embedded System for Relative Localization in Robotic Swarms]. In ICRA2013: Proceedings of 2013 IEEE International Conference on Robotics and Automation. 2013.</ref> where GPS is unavailable.<ref>Saska, M.; Vakula, J.; Preucil, L. [https://ieeexplore.ieee.org/abstract/document/6907374/ Swarms of Micro Aerial Vehicles Stabilized Under a Visual Relative Localization]. In ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation. 2014.</ref><ref>Saska, M. [https://www.researchgate.net/profile/Martin_Saska/publication/282922149_MAV-swarms_Unmanned_aerial_vehicles_stabilized_along_a_given_path_using_onboard_relative_localization/links/5684f75b08ae19758394dcdf.pdf MAV-swarms: unmanned aerial vehicles stabilized along a given path using onboard relative localization]. In Proceedings of 2015 International Conference on Unmanned Aircraft Systems (ICUAS). 2015</ref> Swarms of micro aerial vehicles have been already tested in tasks of autonomous surveillance,<ref>Saska, M.; Chudoba, J.; Preucil, L.; Thomas, J.; Loianno, G.; Tresnak, A.; Vonasek, V.; Kumar, V. [https://ieeexplore.ieee.org/abstract/document/6842301/ Autonomous Deployment of Swarms of Micro-Aerial Vehicles in Cooperative Surveillance]. In Proceedings of 2014 International Conference on Unmanned Aircraft Systems (ICUAS). 2014.</ref> plume tracking,<ref>Saska, M.; Langr J.; L. Preucil. [https://www.researchgate.net/profile/Martin_Saska/publication/290558108_Plume_Tracking_by_a_Self-stabilized_Group_of_Micro_Aerial_Vehicles/links/57040e7908ae74a08e245eeb.pdf Plume Tracking by a Self-stabilized Group of Micro Aerial Vehicles]. In Modelling and Simulation for Autonomous Systems, 2014.</ref> and reconnaissance in a compact phalanx.<ref>Saska, M.; Kasl, Z.; Preucil, L. [http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2014/media/files/2295.pdf Motion Planning and Control of Formations of Micro Aerial Vehicles]. In Proceedings of the 19th World Congress of the International Federation of Automatic Control. 2014.</ref> Numerous works on cooperative swarms of unmanned ground and aerial vehicles have been conducted with target applications of cooperative environment monitoring,<ref>Saska, M.; Vonasek, V.; Krajnik, T.; Preucil, L. [http://labe.felk.cvut.cz/~tkrajnik/ardrone/articles/formace.pdf Coordination and Navigation of Heterogeneous UAVs-UGVs Teams Localized by a Hawk-Eye Approach]. In Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2012.</ref> [[simultaneous localization and mapping]],<ref>Chung, Soon-Jo, et al. "[https://authors.library.caltech.edu/87925/1/tro-aerial-robotics_final.pdf A survey on aerial swarm robotics]." IEEE Transactions on Robotics 34.4 (2018): 837-855.</ref> convoy protection,<ref>Saska, M.; Vonasek, V.; Krajnik, T.; Preucil, L. [http://eprints.lincoln.ac.uk/14891/1/formations_2014_IJRR.pdf Coordination and Navigation of Heterogeneous MAV–UGV Formations Localized by a ‘hawk-eye’-like Approach Under a Model Predictive Control Scheme]. International Journal of Robotics Research 33(10):1393–1412, September 2014.</ref> and moving target localization and tracking.<ref>Kwon, H; Pack, D. J. [https://link.springer.com/article/10.1007/s10846-011-9581-5 A Robust Mobile Target Localization Method for Cooperative Unmanned Aerial Vehicles Using Sensor Fusion Quality]. Journal of Intelligent and Robotic Systems, Volume 65, Issue 1, pp 479-493, January 2012.</ref>