Abstract A swarm of autonomous flying robots is implemented in simulation to cooperatively gather situational awareness data during the first few hours after a major natural disaster. In computer simulations, the swarm is successful in locating over 90% of survivors in less than an hour. The swarm is controlled by new sets of reactive behaviors which are presented and evaluated. The reactive behaviors integrate collision avoidance, battery recharge, formation control, altitude maintenance, and a variety of search methods to optimize the coverage area of camera and heart-beat locator sensors mounted on the robots. The behaviors are implemented in simulation on swarms of sizes from 1 to 20 robots. The simulation uses actual location data, including post-disaster satellite imagery, real locations of damaged and inundated buildings, and realistic victim locations based on personal interviews and accounts. The results demonstrate the value of using behavior-based swarming algorithms to control autonomous unmanned aerial vehicles for post-disaster search and assessment. Three examples of algorithms that have been effective in simulation are presented .
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