title: ÐÐ»Ð°ÑÑÐ¸ÑÐ¸ÐºÐ°ÑÐ¸Ñ ÑÑÑÐ°Ð½Ð¾Ð²Ð¸Ð²ÑÐ¸Ñ ÑÑ Ð³ÐµÐ¾Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÐ¸Ñ ÑÑÑÑÐºÑÑÑ ÑÐ¾ÐµÐ²ÑÑ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ð¹ Ð´Ð»Ñ ÑÐ°Ð¼Ð¾Ð¾ÑÐ³Ð°Ð½Ð¸Ð·ÑÑÑÐµÐ³Ð¾ÑÑ Ð¼Ð½Ð¾Ð¶ÐµÑÑÐ²Ð° Ð´ÑÐ¾Ð½Ð¾Ð²
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Classification of established geometric structures of swarm formations for a self-organizing multitude of drones
Creators: name: ÐÐ¾Ð³Ð´Ð°Ð½Ð¾Ð², Ð®Ð»Ð¸Ð°Ð½
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2021
Subjects: ÑÐ¾ÐµÐ²ÑÐµ ÑÑÑÑÐºÑÑÑÑ Ð´ÑÐ¾Ð½Ð¾Ð²
ÑÐ¾ÑÐ¼Ð°Ð»ÑÐ½ÑÐµ ÐºÑÐ¸ÑÐµÑÐ¸Ð¸ Ð¾ÑÐµÐ½ÐºÐ¸ Ð³ÐµÐ¾Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÐ¸Ñ ÑÐ¸Ð³ÑÑ
ÑÐµÐ³ÑÐ»ÑÑÐ½Ð¾ÑÑÑ Ð¸ ÑÐ¾ÑÐ¼Ð° Ð¼Ð½Ð¾Ð¶ÐµÑÑÐ²Ð°.
drone swarm structures
formal criterion for evaluation of geometric figures
regularity and form of the set.

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description: The topic of this work is the classification of swarm formations. The aim of this work is to assess the structuredness of a swarm of drones. The subject of the work is the creation of formalized criteria for assessing structuredness. The paper presents the basic concepts of control of groups of unmanned aerial vehicles. Swarm control of groups of drones is considered as a type of decentralized control with its features being described. The relevance of this work in the scientific environment is considered, scientific articles on related topics are provided. The concept of structuredness of a drone swarm is considered as one of its characteristics. A numerical method for assessing the regularity of a swarm of drones based on the principles of autocorrelation analysis has been developed. A numerical method for estimating the shape of a swarm of drones based on the geometric parameters of the minimum convex hull has been developed. The algorithms for evaluating the regularity and shape of a swarm of drones are implemented in the PyCharm IDE for Python. Examples of work of the program code with regular and irregular structures of various forms are given. The results of the implemented algorithms are analyzed. The algorithms obtained as a result of the work make it possible to determine the structuredness of the swarm through numerical criteria for the regularity and shape of the swarm. These algorithms can be used to assess the performance of control algorithms in a swarm of drones.