Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing the flocking behavior of UAVs based on the concept of Virtual Centroid to easily develop a structure for the flock. The approach builds on the classical virtual-based behavior, providing a theoretical framework for incorporating enhancements to dynamically control both the number of agents and the formation of the structure. Simulation tests and real-world experiments were conducted, demonstrating its simplicity even with complex formations and complex trajectories.

翻译：维持多无人机复杂结构的编队并实现复杂轨迹仍是一项重大挑战。本文提出一种基于虚拟质心概念的无人机群体行为算法，可便捷构建集群结构。该方法在经典虚拟行为基础上进行拓展，为动态控制智能体数量与结构编队提供了理论框架。通过仿真测试与真实环境实验验证，该方法即使在复杂编队与复杂轨迹场景下仍能保持简洁性。