Self-Organized UAV Flocking Based Only on Relative Range and Bearing

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In this work, we address the problem of convergence and cohesiveness of an unmanned aerial vehicle (UAV) flocking. Thus, we propose a proximal control-based method for UAV self-organized flocking. Our method efficiently achieves flocking in the absence of alignment control and moves into an arbitrary direction without any direction control or informed robots. Robots use a Lennard-Jones potential function to maintain the cohesiveness of the flocking while avoiding collision within the teammates. We evaluate our approach using the order metric, the steady-state value, and the settling time that can be used as a cohesiveness indicator.