Assessment of drone group spatial structure regularity using autocorrelation analysis

Recieved: 05/12/2025

Accepted: 05/26/2025

Keywords: drone group spatial structure, drone swarm, drone group control systems, swarm behavior classification

To cite this article

Girgidov R.A., Fomichev V.V. Assessment of drone group spatial structure regularity using autocorrelation analysis. // Moscow University Journal. Series 15. Computational Mathematics and Cybernetics. 2025. N 3, p.32-41 https://doi.org/10.55959/MSU/0137–0782–15–2025–49–3–32–41.

This work is licensed under a Сreative Commons Atribiution - NonCommercial 4.0 International (CC BY-NC 4.0)

Girgidov R.A. (Peter the Great St. Petersburg Polytechnic University)
Fomichev V.V. (Lomonosov Moscow State University (MSU))

Abstract

Automated assessment of a group of autonomous agents’ spatial structure reduces development costs for group control systems and eliminates the human factor in analyzing group behavior. To construct a metric for the spatial regularity of an agent group, it is proposed to use a repeatability characteristic of the spatial structure based on autocorrelation methods. The paper examines various methods for calculating autocorrelation using a matrix of pairwise distances between agents, and their application to different types of spatial structures.