# Constraint-based Formation of Drone Swarms

arXiv: https://arxiv.org/abs/2201.11916 · HTML: https://mlsanity.com/paper/2201.11916/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Jan 2022.

## Built on by (most cited first, 1 of 1)

- [A Time-efficient Prioritised Scheduling Algorithm to Optimise Initial Flock Formation of Drones](https://mlsanity.com/paper/2512.19914/) (2025)

## Abstract (arXiv)

Drone swarms are required for the simultaneous delivery of multiple packages. We demonstrate a multi-stop drone swarm-based delivery in a smart city. We leverage formation flying to conserve energy and increase the flight range of a drone swarm. An adaptive formation is presented in which a swarm adjusts to extrinsic constraints and changes the formation pattern in-flight. We utilize the existing building rooftops in a city and build a line-of-sight skyway network to safely operate the swarms. We use a heuristic-based A* algorithm to route a drone swarm in a skyway network.