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We proposed two methods\u2014desired distance modulation and speed modulation\u2014with and without alignment control. In the former, individuals modulate their desired distance to their neighbors and in the latter, they modulate their speed depending on the social interactions with their neighbors and measurements from the environment. Methods are systematically tested using two metrics with different scalar field models, swarm sizes and swarm densities. Experiments are conducted using: (1)\u00a0a kinematic simulator, (2)\u00a0a physics-based simulator, and (3)\u00a0real nano-drone swarm. Results show that using the proposed methods, a swarm\u2014composed of individuals lacking gradient sensing ability\u2014is able to follow the gradient in a scalar field successfully. Results show that when individuals modulate their desired distances, alignment control is not needed but it still increases the performance. However, when individuals modulate their speed, alignment control is needed for collective motion. Real nano-drone experiments reveal that the proposed methods are applicable in real-life scenarios.<\/jats:p>","DOI":"10.1007\/s11721-022-00220-1","type":"journal-article","created":{"date-parts":[[2022,10,26]],"date-time":"2022-10-26T18:03:58Z","timestamp":1666807438000},"page":"117-146","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Collective gradient perception with a flying robot swarm"],"prefix":"10.1007","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8062-167X","authenticated-orcid":false,"given":"Tugay Alperen","family":"Karag\u00fczel","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ali Emre","family":"Turgut","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"A. 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