Parameters
Drones: 4
0.5
4.0
0
Explanation
This simulation models a small aerial drone swarm in a GNSS-denied environment. Each drone moves with a strong relaxational random-walk, mimicking natural drift, and performs two-way ranging broadcasts in the Ultra-Wide Band (UWB) frequency range to measure distances to its neighbors. We assume that each reply occurs on a slightly different frequency, so the sender can identify which drone responded.
We further assume the drones are equipped small antenna array to estimate the bearing of nearby drones. Using only distance and bearing measurements, the swarm maintains a prescribed geometric formation, showing how coordinated behavior can emerge from simple decentralized sensing and interactions.