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Impact of drone swarm formations in 3D scene reconstruction

Swarms of unmanned autonomous vehicles adopt effective algorithms to control their localization and formation. These strategies grant safe and collision-free navigation, control the positioning of drones, and automatize their motion according to the final task. This paper investigates how formations affect the reconstruction accuracy of a swarm of drones patrolling a 3D environment. Considering that the swarm configuration is significantly constrained by the geometry of the scene, experimental results show that it is possible to overcome the limitations of an ineffective configuration by exploiting camera-in-view side information.