{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,17]],"date-time":"2026-03-17T20:22:46Z","timestamp":1773778966349,"version":"3.50.1"},"reference-count":68,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2025,9,27]],"date-time":"2025-09-27T00:00:00Z","timestamp":1758931200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2025,9,27]],"date-time":"2025-09-27T00:00:00Z","timestamp":1758931200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100007210","name":"RWTH Aachen University","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100007210","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2025,12]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>\n                    Swarms of unmanned aerial vehicles (UAVs) are increasingly becoming vital to our society, undertaking tasks such as search and rescue, surveillance and delivery. A special variant of Distributed Model Predictive Control (DMPC) has emerged as a promising approach for the safe management of these swarms by combining the scalability of distributed computation with dynamic swarm motion control. In this DMPC method, multiple agents solve local optimization problems with coupled anti-collision constraints, periodically exchanging their solutions. Despite its potential, existing methodologies using this DMPC variant have yet to be deployed on distributed hardware that fully utilize true distributed computation and wireless communication. This is primarily due to the lack of a communication system tailored to meet the unique requirements of mobile swarms and an architecture that supports distributed computation while adhering to the payload constraints of UAVs. We present DMPC-Swarm, a new swarm control methodology that integrates an efficient, stateless low-power wireless communication protocol with a novel DMPC algorithm that provably avoids UAV collisions even under message loss. By utilizing event-triggered and distributed off-board computing, DMPC-Swarm supports nano UAVs, allowing them to benefit from additional computational resources while retaining scalability and fault tolerance. In a detailed theoretical analysis, we prove that DMPC-Swarm guarantees collision avoidance under realistic conditions, including communication delays and message loss. Finally, we present DMPC-Swarm\u2019s implementation on a swarm of up to 16 nano-quadcopters, demonstrating the first realization of these DMPC variants with computation distributed on multiple physical devices interconnected by a real wireless mesh networks. A video showcasing DMPC-Swarm is available at\n                    <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"http:\/\/tiny.cc\/DMPCSwarm\" ext-link-type=\"uri\">http:\/\/tiny.cc\/DMPCSwarm<\/jats:ext-link>\n                    .\n                  <\/jats:p>","DOI":"10.1007\/s10514-025-10211-w","type":"journal-article","created":{"date-parts":[[2025,9,27]],"date-time":"2025-09-27T07:43:26Z","timestamp":1758959006000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["DMPC-Swarm: distributed model predictive control on nano UAV swarms"],"prefix":"10.1007","volume":"49","author":[{"given":"Alexander","family":"Gr\u00e4fe","sequence":"first","affiliation":[]},{"given":"Joram","family":"Eickhoff","sequence":"additional","affiliation":[]},{"given":"Marco","family":"Zimmerling","sequence":"additional","affiliation":[]},{"given":"Sebastian","family":"Trimpe","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,9,27]]},"reference":[{"key":"10211_CR1","unstructured":"Antal, P., P\u00e9ni, T., & T\u00f3th, R. (2023). Modelling, identification and geometric control of autonomous quadcopters for agile maneuvering. arXiv preprint arXiv:2306.09651"},{"issue":"1","key":"10211_CR2","doi-asserted-by":"publisher","first-page":"76","DOI":"10.1109\/MCS.2012.2225929","volume":"33","author":"G Antonelli","year":"2013","unstructured":"Antonelli, G. (2013). Interconnected dynamic systems: An overview on distributed control. IEEE Control Systems Magazine, 33(1), 76\u201388.","journal-title":"IEEE Control Systems Magazine"},{"key":"10211_CR3","doi-asserted-by":"crossref","unstructured":"Augugliaro, F., Schoellig, A. P., & D\u2019Andrea, R. (2012). Generation of collision-free trajectories for a quadrocopter fleet: A sequential convex programming approach. In: IEEE\/RSJ international conference on Intelligent Robots and Systems.","DOI":"10.1109\/IROS.2012.6385823"},{"issue":"2","key":"10211_CR4","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3361846","volume":"4","author":"D Baumann","year":"2019","unstructured":"Baumann, D., Mager, F., Jacob, R., Thiele, L., Zimmerling, M., & Trimpe, S. (2019). Fast feedback control over multi-hop wireless networks with mode changes and stability guarantees. ACM Transactions on Cyber-Physical Systems, 4(2), 1\u201332.","journal-title":"ACM Transactions on Cyber-Physical Systems"},{"issue":"4","key":"10211_CR5","doi-asserted-by":"publisher","first-page":"441","DOI":"10.1109\/JPROC.2020.3032633","volume":"109","author":"D Baumann","year":"2020","unstructured":"Baumann, D., Mager, F., Wetzker, U., Thiele, L., Zimmerling, M., & Trimpe, S. (2020). Wireless control for smart manufacturing: Recent approaches and open challenges. Proceedings of the IEEE, 109(4), 441\u2013467.","journal-title":"Proceedings of the IEEE"},{"key":"10211_CR6","doi-asserted-by":"crossref","unstructured":"Blender, T., Buchner, T., Fernandez, B., Pichlmaier, B., & Schlegel, C. (2016). Managing a mobile agricultural robot swarm for a seeding task. In: IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society.","DOI":"10.1109\/IECON.2016.7793638"},{"issue":"1","key":"10211_CR7","doi-asserted-by":"publisher","first-page":"44","DOI":"10.1109\/37.980246","volume":"22","author":"E Camponogara","year":"2002","unstructured":"Camponogara, E., Jia, D., Krogh, B. H., & Talukdar, S. (2002). Distributed model predictive control. IEEE Control Systems Magazine, 22(1), 44\u201352.","journal-title":"IEEE Control Systems Magazine"},{"key":"10211_CR8","doi-asserted-by":"publisher","first-page":"106169","DOI":"10.1109\/ACCESS.2022.3204272","volume":"10","author":"J Cantizani-Estepa","year":"2022","unstructured":"Cantizani-Estepa, J., Bravo-Arrabal, J., Fern\u00e1ndez-Lozano, J., Fortes, S., Barco, R., Garc\u00eda-Cerezo, A., & Mandow, A. (2022). Bluetooth low energy for close detection in search and rescue missions with robotic platforms: An experimental evaluation. IEEE Access, 10, 106169\u2013106179.","journal-title":"IEEE Access"},{"issue":"9","key":"10211_CR9","doi-asserted-by":"publisher","first-page":"6058","DOI":"10.1109\/TAC.2024.3393126","volume":"69","author":"Y Chen","year":"2024","unstructured":"Chen, Y., Guo, M., & Li, Z. (2024). Deadlock resolution and recursive feasibility in MPC-based multi-robot trajectory generation. IEEE Transactions on Automatic Control, 69(9), 6058\u20136073.","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"4","key":"10211_CR10","doi-asserted-by":"publisher","first-page":"2197","DOI":"10.1109\/LRA.2023.3248377","volume":"8","author":"Y Chen","year":"2023","unstructured":"Chen, Y., Wang, C., Guo, M., & Li, Z. (2023). Multi-robot trajectory planning with feasibility guarantee and deadlock resolution: An obstacle-dense environment. IEEE Robotics and Automation Letters, 8(4), 2197\u20132204.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"10211_CR11","doi-asserted-by":"crossref","unstructured":"Cheraghi, A. R., Shahzad, S., & Graffi, K. (2022). Past, present, and future of swarm robotics. In: Intelligent Systems and Applications: Proceedings of the 2021 Intelligent Systems Conference (IntelliSys) Volume 3.","DOI":"10.1007\/978-3-030-82199-9_13"},{"key":"10211_CR12","doi-asserted-by":"publisher","DOI":"10.1016\/j.comnet.2019.106877","volume":"163","author":"A Chriki","year":"2019","unstructured":"Chriki, A., Touati, H., Snoussi, H., & Kamoun, F. (2019). FANET: Communication, mobility models and security issues. Computer Networks, 163, Article 106877.","journal-title":"Computer Networks"},{"issue":"4","key":"10211_CR13","doi-asserted-by":"publisher","first-page":"837","DOI":"10.1109\/TRO.2018.2857475","volume":"34","author":"S-J Chung","year":"2018","unstructured":"Chung, S.-J., Paranjape, A. A., Dames, P., Shen, S., & Kumar, V. (2018). A survey on aerial swarm robotics. IEEE Transactions on Robotics, 34(4), 837\u2013855.","journal-title":"IEEE Transactions on Robotics"},{"key":"10211_CR14","doi-asserted-by":"crossref","unstructured":"Couceiro, M. S., Portugal, D., & Rocha, R. P. (2013). A collective robotic architecture in search and rescue scenarios. In: Proceedings of the 28th Annual ACM Symposium on Applied Computing, 64\u201369.","DOI":"10.1145\/2480362.2480377"},{"issue":"49","key":"10211_CR15","doi-asserted-by":"publisher","first-page":"eabe4385","DOI":"10.1126\/scirobotics.abe4385","volume":"5","author":"M Dorigo","year":"2020","unstructured":"Dorigo, M., Theraulaz, G., & Trianni, V. (2020). Reflections on the future of swarm robotics. Science Robotics, 5(49), eabe4385.","journal-title":"Science Robotics"},{"key":"10211_CR16","doi-asserted-by":"crossref","unstructured":"Duisterhof, B. P., Krishnan, S., Cruz, J. J., Banbury, C. R., Fu, W., Faust, A., Croon, G. C., & Reddi, V. J. (2021). Tiny robot learning (tinyrl) for source seeking on a nano quadcopter.","DOI":"10.1109\/ICRA48506.2021.9561590"},{"key":"10211_CR17","unstructured":"Ferrari, F., Zimmerling, M., Thiele, L., Saukh, O. (2011). Efficient network flooding and time synchronization with glossy. In: Proceedings of the 10th ACM\/IEEE International Conference on Information Processing in Sensor Networks, 73\u201384."},{"issue":"1","key":"10211_CR18","doi-asserted-by":"publisher","DOI":"10.1002\/cppb.20103","volume":"5","author":"J Gago","year":"2020","unstructured":"Gago, J., Estrany, J., Estes, L., Fernie, A. R., Alorda, B., Brotman, Y., Flexas, J., Escalona, J. M., & Medrano, H. (2020). Nano and micro unmanned aerial vehicles (UAVS): A new grand challenge for precision agriculture? Current Protocols in Plant Biology, 5(1), Article e20103.","journal-title":"Current Protocols in Plant Biology"},{"key":"10211_CR19","doi-asserted-by":"publisher","first-page":"117","DOI":"10.1016\/j.ins.2015.07.047","volume":"380","author":"X Ge","year":"2017","unstructured":"Ge, X., Yang, F., & Han, Q.-L. (2017). Distributed networked control systems: A brief overview. Information Sciences, 380, 117\u2013131.","journal-title":"Information Sciences"},{"key":"10211_CR20","doi-asserted-by":"crossref","unstructured":"Gr\u00e4fe, A., & Trimpe, S. (2025). Event-triggered robust model predictive control under hard computation resource constraints. arXiv preprint arXiv:2504.19540","DOI":"10.23919\/ECC65951.2025.11187035"},{"key":"10211_CR21","doi-asserted-by":"crossref","unstructured":"Gr\u00e4fe, A., Eickhoff, J., & Trimpe, S. (2022). Event-triggered and distributed model predictive control for guaranteed collision avoidance in uav swarms. In: 9th IFAC Conference on Networked Systems NECSYS 2022.","DOI":"10.1016\/j.ifacol.2022.07.239"},{"issue":"3","key":"10211_CR22","doi-asserted-by":"publisher","first-page":"169","DOI":"10.3390\/drones7030169","volume":"7","author":"G Gugan","year":"2023","unstructured":"Gugan, G., & Haque, A. (2023). Path planning for autonomous drones: Challenges and future directions. Drones, 7(3), 169.","journal-title":"Drones"},{"key":"10211_CR23","unstructured":"Herrmann, C., & Zimmerling, M. (2022). Rssispy: Inspecting concurrent transmissions in the wild."},{"key":"10211_CR24","doi-asserted-by":"crossref","unstructured":"Herrmann, C., Mager, F., & Zimmerling, M. (2018). Mixer: Efficient many-to-all broadcast in dynamic wireless mesh networks. In:16th ACM Conference on Embedded Networked Sensor Systems.","DOI":"10.1145\/3274783.3274849"},{"issue":"10","key":"10211_CR25","doi-asserted-by":"publisher","first-page":"4413","DOI":"10.1109\/TIT.2006.881746","volume":"52","author":"T Ho","year":"2006","unstructured":"Ho, T., M\u00e9dard, M., Koetter, R., Karger, D. R., Effros, M., Shi, J., & Leong, B. (2006). A Random Linear Network Coding Approach to Multicast. IEEE Transactions on Information Theory, 52(10), 4413\u20134430.","journal-title":"IEEE Transactions on Information Theory"},{"key":"10211_CR26","unstructured":"Hu, J., Bruno, A., Zagieboylo, D., Zhao, M., Ritchken, B., Jackson, B., Chae, J. Y., Mertil, F., Espinosa, M., & Delimitrou, C. (2018). To centralize or not to centralize: A tale of swarm coordination. arXiv preprint arXiv:1805.01786"},{"key":"10211_CR27","unstructured":"Kang, C.-K., Fahimi, F., Griffin, R., Landrum, D. B., Mesmer, B., Zhang, G., Lee, T., Aono, H., Pohly, J., McCain, J., et al. (2019). Marsbee-swarm of flapping wing flyers for enhanced mars exploration. Technical report."},{"issue":"1","key":"10211_CR28","doi-asserted-by":"publisher","first-page":"127","DOI":"10.1109\/LRA.2023.3331897","volume":"9","author":"TA Karag\u00fczel","year":"2023","unstructured":"Karag\u00fczel, T. A., Retamal, V., Cambier, N., & Ferrante, E. (2023). From shadows to light: A swarm robotics approach with onboard control for seeking dynamic sources in constrained environments. IEEE Robotics and Automation Letters, 9(1), 127\u2013134.","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"1","key":"10211_CR29","doi-asserted-by":"publisher","first-page":"16","DOI":"10.3390\/drones3010016","volume":"3","author":"MA Khan","year":"2019","unstructured":"Khan, M. A., Qureshi, I. M., & Khanzada, F. (2019). A hybrid communication scheme for efficient and low-cost deployment of future flying ad-hoc network (FANET). Drones, 3(1), 16.","journal-title":"Drones"},{"key":"10211_CR30","doi-asserted-by":"crossref","unstructured":"K\u00f6hler, J., M\u00fcller, M. A., & Allg\u00f6wer, F. (2018). A novel constraint tightening approach for nonlinear robust model predictive control. In: Annual American control conference (ACC).","DOI":"10.23919\/ACC.2018.8431892"},{"key":"10211_CR31","doi-asserted-by":"crossref","unstructured":"Landsiedel, O., Ferrari, F., & Zimmerling, M. (2013). Chaos: Versatile and efficient all-to-all data sharing and in-network processing at scale. Proceedings of the 11th ACM Conference on Embedded Networked Sensor Systems.","DOI":"10.1145\/2517351.2517358"},{"issue":"12","key":"10211_CR32","doi-asserted-by":"publisher","first-page":"3062","DOI":"10.1109\/TIT.2004.838089","volume":"50","author":"JN Laneman","year":"2004","unstructured":"Laneman, J. N., Tse, D. N. C., & Wornell, G. W. (2004). Cooperative diversity in wireless networks: Efficient protocols and outage behavior. IEEE Transactions on Information Theory, 50(12), 3062\u20133080.","journal-title":"IEEE Transactions on Information Theory"},{"issue":"5","key":"10211_CR33","doi-asserted-by":"publisher","first-page":"531","DOI":"10.1109\/TCOM.1976.1093327","volume":"24","author":"K Leentvaar","year":"1976","unstructured":"Leentvaar, K., & Flint, J. H. (1976). The Capture Effect in FM Receivers. IEEE Transactions on Communications, 24(5), 531\u2013539.","journal-title":"IEEE Transactions on Communications"},{"issue":"21","key":"10211_CR34","doi-asserted-by":"publisher","first-page":"4387","DOI":"10.3390\/rs13214387","volume":"13","author":"J Liu","year":"2021","unstructured":"Liu, J., Xiang, J., Jin, Y., Liu, R., Yan, J., & Wang, L. (2021). Boost precision agriculture with unmanned aerial vehicle remote sensing and edge intelligence: A survey. Remote Sensing, 13(21), 4387.","journal-title":"Remote Sensing"},{"issue":"2","key":"10211_CR35","doi-asserted-by":"publisher","first-page":"375","DOI":"10.1109\/LRA.2018.2890572","volume":"4","author":"CE Luis","year":"2019","unstructured":"Luis, C. E., & Schoellig, A. P. (2019). Trajectory generation for multiagent point-to-point transitions via distributed model predictive control. IEEE Robotics and Automation Letters, 4(2), 375\u2013382.","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"2","key":"10211_CR36","doi-asserted-by":"publisher","first-page":"604","DOI":"10.1109\/LRA.2020.2964159","volume":"5","author":"CE Luis","year":"2020","unstructured":"Luis, C. E., Vukosavljev, M., & Schoellig, A. P. (2020). Online trajectory generation with distributed model predictive control for multi-robot motion planning. IEEE Robotics and Automation Letters, 5(2), 604\u2013611.","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"1","key":"10211_CR37","doi-asserted-by":"publisher","first-page":"41","DOI":"10.1016\/j.mechatronics.2013.11.006","volume":"24","author":"S Lupashin","year":"2014","unstructured":"Lupashin, S., Hehn, M., Mueller, M. W., Schoellig, A. P., Sherback, M., & D\u2019Andrea, R. (2014). A platform for aerial robotics research and demonstration: The flying machine arena. Mechatronics, 24(1), 41\u201354.","journal-title":"Mechatronics"},{"key":"10211_CR38","doi-asserted-by":"crossref","unstructured":"Lv, C., Yu, R., Cao, J., Gong, C., Wu, W., & Wang, X. (2023). A survey on unmanned aerial vehicle swarm communication and navigation. Advances in Guidance, Navigation and Control: Proceedings of 2022 International Conference on Guidance, Navigation and Control. Springer.","DOI":"10.1007\/978-981-19-6613-2_232"},{"key":"10211_CR39","doi-asserted-by":"crossref","unstructured":"Mager, F., Baumann, D., Jacob, R., Thiele, L., Trimpe, S., & Zimmerling, M. (2019). Feedback control goes wireless: Guaranteed stability over low-power multi-hop networks. 10th ACM\/IEEE International Conference on Cyber-Physical Systems.","DOI":"10.1145\/3302509.3311046"},{"issue":"3","key":"10211_CR40","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3502299","volume":"6","author":"F Mager","year":"2021","unstructured":"Mager, F., Baumann, D., Herrmann, C., Trimpe, S., & Zimmerling, M. (2021). Scaling beyond bandwidth limitations: Wireless control with stability guarantees under overload. ACM Transactions on Cyber-Physical Systems, 6(3), 1\u201330. arxiv:2104.07989.","journal-title":"ACM Transactions on Cyber-Physical Systems"},{"issue":"3","key":"10211_CR41","doi-asserted-by":"publisher","first-page":"20","DOI":"10.1109\/MRA.2012.2206474","volume":"19","author":"R Mahony","year":"2012","unstructured":"Mahony, R., Kumar, V., & Corke, P. (2012). Multirotor aerial vehicles: Modeling, estimation, and control of quadrotor. IEEE Robotics & Automation Magazine, 19(3), 20\u201332.","journal-title":"IEEE Robotics & Automation Magazine"},{"key":"10211_CR42","doi-asserted-by":"crossref","unstructured":"Mellinger, D., & Kumar, V. (2011). Minimum snap trajectory generation and control for quadrotors.","DOI":"10.1109\/ICRA.2011.5980409"},{"issue":"2","key":"10211_CR43","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1023\/B:AURO.0000033972.50769.1c","volume":"17","author":"F Mondada","year":"2004","unstructured":"Mondada, F., Pettinaro, G. C., Guignard, A., Kwee, I. W., Floreano, D., Deneubourg, J.-L., Nolfi, S., Gambardella, L. M., & Dorigo, M. (2004). Swarm-bot: A new distributed robotic concept. Autonomous Robots, 17(2), 193\u2013221.","journal-title":"Autonomous Robots"},{"issue":"2","key":"10211_CR44","doi-asserted-by":"publisher","first-page":"1291","DOI":"10.1007\/s11277-021-08515-y","volume":"120","author":"M Namdev","year":"2021","unstructured":"Namdev, M., Goyal, S., & Agarwal, R. (2021). An optimized communication scheme for energy efficient and secure flying ad-hoc network (FANET). Wireless Personal Communications, 120(2), 1291\u20131312.","journal-title":"Wireless Personal Communications"},{"key":"10211_CR45","doi-asserted-by":"publisher","first-page":"81057","DOI":"10.1109\/ACCESS.2019.2923840","volume":"7","author":"OS Oubbati","year":"2019","unstructured":"Oubbati, O. S., Atiquzzaman, M., Lorenz, P., Tareque, M. H., & Hossain, M. S. (2019). Routing in flying ad hoc networks: Survey, constraints, and future challenge perspectives. IEEE Access, 7, 81057\u201381105.","journal-title":"IEEE Access"},{"key":"10211_CR46","doi-asserted-by":"crossref","unstructured":"Panerati, J., Zheng, H., Zhou, S., Xu, J., Prorok, A., & Schoellig, A. P. (2021). Learning to fly\u2014a gym environment with pybullet physics for reinforcement learning of multi-agent quadcopter control. IEEE\/RSJ International Conference on Intelligent Robots and Systems.","DOI":"10.1109\/IROS51168.2021.9635857"},{"issue":"2","key":"10211_CR47","doi-asserted-by":"publisher","first-page":"4869","DOI":"10.1109\/LRA.2022.3152702","volume":"7","author":"J Park","year":"2022","unstructured":"Park, J., Kim, D., Kim, G. C., Oh, D., & Kim, H. J. (2022). Online distributed trajectory planning for quadrotor swarm with feasibility guarantee using linear safe corridor. IEEE Robotics and Automation Letters, 7(2), 4869\u20134876.","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"5","key":"10211_CR48","doi-asserted-by":"publisher","first-page":"3739","DOI":"10.1109\/TRO.2023.3279903","volume":"39","author":"J Park","year":"2023","unstructured":"Park, J., Lee, Y., Jang, I., & Kim, H. J. (2023). DLSC: Distributed multi-agent trajectory planning in maze-like dynamic environments using linear safe corridor. IEEE Transactions on Robotics, 39(5), 3739\u20133758.","journal-title":"IEEE Transactions on Robotics"},{"issue":"3","key":"10211_CR49","doi-asserted-by":"publisher","first-page":"293","DOI":"10.20517\/ir.2024.19","volume":"4","author":"Y Peng","year":"2024","unstructured":"Peng, Y., Yan, H., Rao, K., Yang, P., & Lv, Y. (2024). Distributed model predictive control for unmanned aerial vehicles and vehicle platoon systems: A review. Intelligence & Robotics, 4(3), 293\u2013317.","journal-title":"Intelligence & Robotics"},{"key":"10211_CR50","doi-asserted-by":"crossref","unstructured":"Preiss, J. A., Honig, W., Sukhatme, G. S., & Ayanian, N. (2017). Crazyswarm: A large nano-quadcopter swarm. IEEE International Conference on Robotics and Automation (ICRA).","DOI":"10.1109\/ICRA.2017.7989376"},{"key":"10211_CR51","unstructured":"R\u00a0Shamshiri, R., Weltzien, C., Hameed, I. A., J\u00a0Yule, I., E\u00a0Grift, T., Balasundram, S. K., Pitonakova, L., Ahmad, D., & Chowdhary, G. (2018). Research and development in agricultural robotics: A perspective of digital farming."},{"key":"10211_CR52","doi-asserted-by":"crossref","unstructured":"Sankaranarayanan, V. N., Damigos, G., Seisa, A. S., Satpute, S. G., Lindgren, T., & Nikolakopoulos, G. (2023). Paced-5g: Predictive autonomous control using edge for drones over 5g.","DOI":"10.1109\/ICUAS57906.2023.10156241"},{"issue":"1","key":"10211_CR53","doi-asserted-by":"publisher","first-page":"469","DOI":"10.1007\/s10846-016-0338-z","volume":"84","author":"M Saska","year":"2016","unstructured":"Saska, M., Von\u00e1sek, V., Chudoba, J., Thomas, J., Loianno, G., & Kumar, V. (2016). Swarm distribution and deployment for cooperative surveillance by micro-aerial vehicles. Journal of Intelligent & Robotic Systems, 84(1), 469\u2013492.","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"47","key":"10211_CR54","doi-asserted-by":"publisher","first-page":"eabc3000","DOI":"10.1126\/scirobotics.abc3000","volume":"5","author":"K Shah","year":"2020","unstructured":"Shah, K., Ballard, G., Schmidt, A., & Schwager, M. (2020). Multidrone aerial surveys of penguin colonies in antarctica. Science Robotics, 5(47), eabc3000.","journal-title":"Science Robotics"},{"issue":"2","key":"10211_CR55","doi-asserted-by":"publisher","first-page":"98","DOI":"10.1109\/MCOM.001.2000593","volume":"59","author":"E Staudinger","year":"2021","unstructured":"Staudinger, E., Zhang, S., P\u00f6hlmann, R., & Dammann, A. (2021). The role of time in a robotic swarm: A joint view on communications, localization, and sensing. IEEE Communications Magazine, 59(2), 98\u2013104.","journal-title":"IEEE Communications Magazine"},{"key":"10211_CR56","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2023.105579","volume":"138","author":"G Stomberg","year":"2023","unstructured":"Stomberg, G., Ebel, H., Faulwasser, T., & Eberhard, P. (2023). Cooperative distributed MPC via decentralized real-time optimization: Implementation results for robot formations. Control Engineering Practice, 138, Article 105579.","journal-title":"Control Engineering Practice"},{"issue":"3","key":"10211_CR57","doi-asserted-by":"publisher","first-page":"263","DOI":"10.1016\/j.ifacol.2021.08.252","volume":"54","author":"G Stomberg","year":"2021","unstructured":"Stomberg, G., Engelmann, A., & Faulwasser, T. (2021). A distributed active set method for model predictive control. IFAC-PapersOnLine, 54(3), 263\u2013268.","journal-title":"IFAC-PapersOnLine"},{"key":"10211_CR58","doi-asserted-by":"publisher","DOI":"10.1016\/j.jobe.2023.106193","volume":"68","author":"S Tavasoli","year":"2023","unstructured":"Tavasoli, S., Pan, X., & Yang, T. (2023). Real-time autonomous indoor navigation and vision-based damage assessment of reinforced concrete structures using low-cost nano aerial vehicles. Journal of Building Engineering, 68, Article 106193.","journal-title":"Journal of Building Engineering"},{"key":"10211_CR59","unstructured":"Trianni, V., IJsselmuiden, J., & Haken, R. (2016). The saga concept: swarm robotics for agricultural applications. Technical report."},{"issue":"1","key":"10211_CR60","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3485467","volume":"6","author":"M Trobinger","year":"2021","unstructured":"Trobinger, M., Albuquerque Gleizer, G., Istomin, T., Mazo, M., Murphy, A. L., & Picco, G. P. (2021). The wireless control bus: Enabling efficient multi-hop event-triggered control with concurrent transmissions. ACM Transactions on Cyber-Physical Systems, 6(1), 1\u201329.","journal-title":"ACM Transactions on Cyber-Physical Systems"},{"key":"10211_CR61","doi-asserted-by":"crossref","unstructured":"Van\u00a0Parys, R., & Pipeleers, G. (2017). Distributed model predictive formation control with inter-vehicle collision avoidance. 11th Asian Control Conference (ASCC). IEEE.","DOI":"10.1109\/ASCC.2017.8287550"},{"issue":"24","key":"10211_CR62","doi-asserted-by":"publisher","first-page":"6148","DOI":"10.1073\/pnas.1707462114","volume":"114","author":"A Walter","year":"2017","unstructured":"Walter, A., Finger, R., Huber, R., & Buchmann, N. (2017). Smart farming is key to developing sustainable agriculture. Proceedings of the National Academy of Sciences, 114(24), 6148\u20136150.","journal-title":"Proceedings of the National Academy of Sciences"},{"issue":"6","key":"10211_CR63","doi-asserted-by":"publisher","first-page":"1272","DOI":"10.3390\/pr12061272","volume":"12","author":"L Wang","year":"2024","unstructured":"Wang, L., Huang, W., Li, H., Li, W., Chen, J., & Wu, W. (2024). A review of collaborative trajectory planning for multiple unmanned aerial vehicles. Processes, 12(6), 1272.","journal-title":"Processes"},{"issue":"5","key":"10211_CR64","doi-asserted-by":"publisher","first-page":"1918","DOI":"10.1109\/TAI.2023.3314581","volume":"5","author":"D Yu","year":"2023","unstructured":"Yu, D., Li, J., Wang, Z., & Li, X. (2023). An overview of swarm coordinated control. IEEE Transactions on Artificial Intelligence, 5(5), 1918\u20131938.","journal-title":"IEEE Transactions on Artificial Intelligence"},{"issue":"7","key":"10211_CR65","doi-asserted-by":"publisher","first-page":"1168","DOI":"10.1109\/JPROC.2020.2985950","volume":"108","author":"S Zhang","year":"2020","unstructured":"Zhang, S., P\u00f6hlmann, R., Wiedemann, T., Dammann, A., Wymeersch, H., & Hoeher, P. A. (2020). Self-aware swarm navigation in autonomous exploration missions. Proceedings of the IEEE, 108(7), 1168\u20131195.","journal-title":"Proceedings of the IEEE"},{"issue":"2","key":"10211_CR66","doi-asserted-by":"publisher","first-page":"1047","DOI":"10.1109\/LRA.2017.2656241","volume":"2","author":"D Zhou","year":"2017","unstructured":"Zhou, D., Wang, Z., Bandyopadhyay, S., & Schwager, M. (2017). Fast, on-line collision avoidance for dynamic vehicles using buffered voronoi cells. IEEE Robotics and Automation Letters, 2(2), 1047\u20131054.","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"2","key":"10211_CR67","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3012005","volume":"1","author":"M Zimmerling","year":"2017","unstructured":"Zimmerling, M., Mottola, L., Kumar, P., Ferrari, F., & Thiele, L. (2017). Adaptive real-time communication for wireless cyber-physical systems. ACM Transactions on Cyber-Physical Systems, 1(2), 1\u201329.","journal-title":"ACM Transactions on Cyber-Physical Systems"},{"issue":"6","key":"10211_CR68","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3410159","volume":"53","author":"M Zimmerling","year":"2020","unstructured":"Zimmerling, M., Mottola, L., & Santini, S. (2020). Synchronous transmissions in low-power wireless: A survey of communication protocols and network services. ACM Computing Surveys (CSUR), 53(6), 1\u201339.","journal-title":"ACM Computing Surveys (CSUR)"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-025-10211-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10514-025-10211-w","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-025-10211-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,24]],"date-time":"2025-12-24T10:02:21Z","timestamp":1766570541000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10514-025-10211-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,27]]},"references-count":68,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2025,12]]}},"alternative-id":["10211"],"URL":"https:\/\/doi.org\/10.1007\/s10514-025-10211-w","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9,27]]},"assertion":[{"value":"26 February 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 August 2025","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"15 August 2025","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 September 2025","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no Conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}],"article-number":"28"}}