Assessing the Regularity of the Spatial Structure of a Group of Drones Based on Autocorrelation Analysis

Automated assessment of the spatial structure (SS) of a group of autonomous agents allows engineers to reduce the costs of developing group control systems and eliminate the human factor in the analysis of group behavior. It is proposed that the repeatability characteristic of SS based on autocorrelation be used to construct a metric for SS regularity of a group of agents. The authors consider different ways calculating autocorrelation based on the matrix of pairwise distances between agents and its application to different types of SS.