Bee-Dance-Inspired UAV Trajectory Pattern Design for Target Information Transfer without Direct Communication

The deployment of robot swarms that perform a task cooperatively is attracting more and more attention in these years. There is a big challenge for existing methods to transfer information without direct communication. In this work, inspired by the phenomenon of bee swarm convening recruits to the food resource with waggle dance, we present a behavior-based approach to transfer information, using the UAV's trajectory pattern rather than direct communication. Two trajectory patterns are designed to transfer information. Furthermore, both of them are optimized subject to the constraint on UAVs. We show that both patterns are feasible through simulation, and the 8-type performs better than the b-type under given indexes. Our information transfer strategy can be used for search and rescue in extreme environments and other communication-denied scenarios to meet the transmission needs of target position information.