Science Robotics

Supplementary Materials

The PDF file includes:

  • Legends for movies S1 to S7
  • Table S1. Optimized model parameter values and working ranges in simulation.
  • Table S2. Statistic evaluation of optimized simulations.
  • Table S3. Explanation of flocking model parameters.
  • Table S4. Model parameter values used on real drones.
  • Table S5. Environmental parameters of the realistic setup.
  • Table S6. Parameter settings of the evolutionary optimization.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.avi format). Simulation of the old flocking model (algorithm A) with 100 agents.
  • Movie S2 (.avi format). Simulation of the new flocking model (algorithm B) after evolutionary optimization with 100 agents.
  • Movie S3 (.mp4 format). Simulation of flocking for different speeds (4 to 32 m/s), flock sizes (30 to 1000 agents), and scenarios.
  • Movie S4 (.avi format). Flight log visualization of 30 drones at 4 m/s in a diagonal flight pattern.
  • Movie S5 (.avi format). Flight log visualization of 30 drones at 6 m/s with obstacles.
  • Movie S6 (.avi format). Flight log visualization of 30 drones at 8 m/s in a circular flight pattern.
  • Movie S7 (.mp4 format). Summarizing documentary with simulation, flight log visualization, and footage on real flights.

Files in this Data Supplement: