An autonomous drone swarm for detecting and tracking anomalies among dense vegetation

Swarms of drones offer increased sensing aperture. When these swarms mimic natural behaviors, sampling is enhanced by adapting the aperture to local conditions. We demonstrate that this enables detection and tracking of heavily occluded targets. Object classification in conventional aerial images generalizes poorly due to occlusion randomness and is inefficient even under minimal occlusion. In contrast, anomaly detection applied to synthetic-aperture integral images remains robust in dense vegetation and independent of pre-trained classes. Our autonomous, centralized swarm searches for unknown or unexpected occurrences, tracking them while continuously adapting its sampling pattern to optimize local viewing conditions. We achieved average positional accuracies of 0.39 m with average precisions of 93.2% and average recalls of 95.9%. Here, adapted particle swarm optimization considers detection confidences and predicted target appearance. We present a new confidence metric that identifies the most abnormal targets and show that sensor noise can be effectively included in the synthetic aperture process, removing the need for costly optimization of high-dimensional parameter spaces. Finally, we provide a hardware-software framework enabling low-latency transmission and fast processing of video and telemetry data. Although our field experiments involved six drones, ongoing technological advances will soon enable larger, faster swarms for military and civil applications.