Fig.1

Technical framework for distributed swarm motion control"

Fig.2

Concentration mapping curves of GRN"

Fig.3

Environmental information concentration map of GRN mapping"

Fig.4

Local environmental information concentration map of GRN"

Fig.5

Curve of the velocity effect of the drone on the countered target and non-countered targets as it varies with distance"

Fig.6

Schematic diagram of 12 drones conducting distributed swarm movements in a static threat area to counter a single target"

Fig.7

Schematic diagram of 16 drones conducting distributed swarm movements in a static threat area to counter a single target"

Fig.8

Schematic diagram of 20 drones conducting distributed swarm movements in a static threat area to counter a single target"

Fig.9

Schematic diagram of 20 drones conducting distributed swarm movements in a dynamic threat area to counter two targets （GRN method）"

Fig.10

Schematic diagram of 20 drones conducting distributed swarm movements in a dynamic threat area to counter two targets （AGENT method）"

Fig.11

Schematic diagram of 20 drones conducting distributed swarm movements in a dynamic threat area to counter two targets （TACTICS method）"

Fig.12

Force distribution effects of 20 drones countering two targets"

Fig.13

Target encirclement rate of two targets by 20 drones under different countermeasure methods"

Fig.14

Average value of the minimum distance between drones in the two drone groups countering two targets with subtraction of the minimum distance, and the minimum distance between all drones"

Fig.15

Average distance of drones to their respective targets and the minimum distance of all drones to the two targets"

Fig.16

Distances of each drone to the two targets, and the countermeasure target selection made by the drones"

Fig.17

Velocity correlation between drones and their respective sub-swarms in two sub-swarms tracking and countering two targets"

Fig.18

Average of the minimum distances from all drones to the threat zone, and the minimum of these minimum distances"

Fig.19

Velocity correlation of 20 drones at adjacent time intervals"

Table 1

Algorithm run time comparison"