# Real-Time Swarm Search Method for Real-World Quadcopter Drones
## 2 The Proposed Swarm Search Method
### The Drone Position Update Mechanism
#### 2.1.2 The Dynamic Model of the Drones for the Mechanism
(2015) [PERSON] [PERSON]; [PERSON] [PERSON]; [PERSON] [PERSON]; [PERSON] [PERSON]; [PERSON] Aerial service vehicles for industrial inspection: task decomposition and plan execution. _Appl. Intell._**2015**, 42, 49-62. [CrossRef]
* [PERSON] and [PERSON] (2012) [PERSON]; [PERSON] Wall inspection control of a VTOL unmanned aerial vehicle based on a stereo optical flow. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 7-12 October 2012; pp. 4296-4302. * [PERSON] et al. (2015) [PERSON]; [PERSON] [PERSON]; [PERSON]; [PERSON] Mixed-Initiative Planning and Execution for Multiple Drones in Search and Rescue Missions. In Proceedings of the Twenty-Fifth International Conference on Automated Planning and Scheduling, ICAPS, Jerusalem, Israel, 7-11 June 2015; pp. 315-323. \begin{table}
\begin{tabular}{c c c c c c} \hline \hline \multirow{2}{*}{**Problem**} & \multicolumn{2}{c}{**Proposed**} & \multicolumn{2}{c}{**Conventional**} & \multirow{2}{*}{\(TC\)} \\ \cline{2-2} \cline{4-6}  & \(AVG(n)\) & \(STD(n)\) & \(AVG(n)\) & \(STD(n)\) & \\ \hline
1 & 141.72 & 37.73 & 409.68 & 244.95 & \(d_{err}<2.0\) \\
2 & 27.41 & 7.62 & 366.66 & 211.01 & \(d_{err}<2.0\) \\ \hline \hline \end{tabular}
\end{table} 
Table 2: The averages (\(AV\)Gs) and standard deviations (\(STD\)s) of the number of iterations \(n\) for the methods to satisfy the termination condition (\(TC\)). \begin{table}
\begin{tabular}{c c c c c c} \hline \hline \multirow{2}{*}{**Problem**} & \multicolumn{2}{c}{**Proposed**} & \multicolumn{2}{c}{**Conventional**} & \multirow{2}{*}{\(n_{limit}\)} \\ \cline{2-2} \cline{4-6}  & \(AVG(d_{err})\) & \(STD(d_{err})\) & \(AVG(d_{err})\) & \(STD(d_{err})\) & \\ \hline
1 & 0.88 & 0.56 & 58.79 & 51.82 & 200 \\
2 & 0.04 & 0.05 & 64.14 & 39.10 & 50 \\ \hline \hline \end{tabular}
\end{table} 
Table 3: The \(AV\)Gs and \(STD\)s of the error distance (\(d_{err}\)) for the methods with the limited number of iterations (\(n_{limit}\)). * [PERSON] et al. (2016) [PERSON] [PERSON]; [PERSON] [PERSON]; [PERSON] [PERSON]; [PERSON] [PERSON]; [PERSON] [PERSON]; [PERSON] [PERSON] A control architecture for multiple drones operated via multimodal interaction in search & rescue mission. In Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Lausanne, Switzerland, 23-27 October 2016; pp. 233-239. * [PERSON] et al. (2016) [PERSON] [PERSON]; [PERSON] [PERSON]; [PERSON] Multimodal interaction with multiple co-located drones in search and rescue missions. _arXiv_**2016**, arXiv:1605.07316. * [PERSON] et al. (2015) [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; et al. Drones for cooperative search and rescue in post-disaster situation. In Proceedings of the IEEE 7 th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Angkor Wat, Cambodia, 15-17 July 2015; pp. 167-174. * [PERSON] et al. (2016) [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON] Post-disaster rescue facility: Human detection and geolocation using aerial drones. In Proceedings of the IEEE Region 10 Conference (TENCON), Singapore, 22-25 November 2016; pp. 384-386. * [PERSON] et al. (2016) [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; [PERSON]; et al. Search and rescue using multiple drones in post-disaster situation. _Unmanned Syst._**2016**, \(4\), 83-96. [CrossRef]
* [PERSON] et al. (2017) [PERSON]; [PERSON]; [PERSON] Swarm of Networked Drones for Video Detection of Intrusions. In Proceedings of the International Wireless Internet Conference, Tianjin, China, 16-17 December 2017, pp. 221-231. * [PERSON] et al. (2017) [PERSON]; [PERSON]; [PERSON] Search using a swarm of unmanned aerial vehicles. In Proceedings of the 15 th International Conference on Emerging eLearning Technologies and Applications (ICETA), Stary Smokovec, Slovakia, 26-27 October 2017; pp. 1-6.