Bio-inspired compact swarms of MAVs without communication and external localization

State of the art in the field of swarm robotics lacks systems capable of absolute decentralization and is hence unable to mimic complex biological swarm systems consisting of simple units. The article interconnects fields of swarm robotics and computer vision, and introduces novel use of a vision-based method UVDAR for mutual localization in swarm systems, allowing for absolute decentralization found among biological swarm systems. The developed methodology allows us to deploy real-world aerial swarming sys