Combining Lévy Walks and Flocking for Cooperative Surveillance using Aerial Swarms

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)
98 Downloads (Pure)


Continuous area coverage missions are a fundamental part of many swarm robotics applications. One of such missions is cooperative surveillance, where the main aim is to deploy a swarm for covering predefined areas of interest simultaneously by k robots, leading to better overall sensing accuracy. However, without prior knowledge of the location of these areas, robots need to continuously explore the domain, so that up-to-date data is gathered while maintaining the benefits of simultaneous observations. In this paper, we propose a model for a swarm of unmanned aerial vehicles to successfully achieve cooperative surveillance. Our model combines the concept of Lévy Walk for exploration and Reynolds’ flocking rules for coordination. Simulation results clearly show that our model outperforms a simple collision avoidance mechanism, commonly found in Lévy-based multi-robot systems. Further preliminary experiments with real robots corroborate the idea.
Original languageEnglish
Title of host publicationMulti-Agent Systems and Agreement Technologies. EUMAS 2020, AT 2020
EditorsNick Bassiliades, Georgios Chalkiadakis, Dave de Jonge
Number of pages17
ISBN (Electronic)9783030664121
ISBN (Print)9783030664114
Publication statusPublished - 5 Jan 2021
Event17th European Conference on Multi-Agent Systems 2020 - , Greece
Duration: 14 Sept 202015 Sept 2020

Publication series

NameLecture Notes in Computer Science
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference17th European Conference on Multi-Agent Systems 2020
Abbreviated titleEUMAS 2017
Internet address


  • Lévy Walk
  • Reynolds’ flocking
  • Surveillance area coverage
  • Swarm intelligence
  • Swarm robotics

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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