Key features of a swarm assemlby algorythm for autonomous unmanned aerial vehicles (UAVs) in absence of GNSS and stable radio communication

In this paper we describe application of the method of physical processes simulating to build a swarm of drones. We show that this method provides the construction of a swarm of drones in the form of a crystal lattice with specified parameters. We found those additional conditions that make it possible to assemble a swarm of disparate drones. We have proposed an algorithm that allows assembling a swarm with minimal costs using a simple measuring complex. Key words UAV, self-organization, physical processes simulating, crystal lattice, swarm robotics, sensors for UAV.