Autonomous and Cooperative Pathfinding Technique for Swarms of Unmanned Aerial Vehicles in Dynamic Environments

• Claudiney R. Tinoco UFU
• Bruno A. N. Travençolo UFU
• Luiz G. A. Martins UFU
• Gina M. B. Oliveira UFU

DOI: https://doi.org/10.5753/sbrlars_estendido.2025.248135

Resumo

Coordinating UAV swarms requires the integration of multiple subsystems, from flight control to cooperative task execution, making it a complex challenge. The thesis proposed a pathfinding technique for swarm robotics, designed for both static and dynamic environments. This technique enabled the robots to cooperate and incrementally find paths through the swarm’s emergent behaviour. It was validated using a coordination model focused on evacuating individuals from wildfire-affected areas, where the rapid identification of safe routes is critical. Experimental results demonstrated that UAVs collaboratively identified and signalled escape routes, exhibiting robust global behaviour during search and path delineation. Moreover, the thesis contributed to the application of swarm robotics to improve safety in high-risk scenarios.

Palavras-chave: Swarm Robotics, Pathfinding, Dynamic Environments, Wildfires

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