“…Previously, technology-oriented research focused on how to improve performance and capacity [13], [14], [15], but more recent research has focused on making such swarm systems more safe, secure, and reliable to operate [7], [16], [17]. Studies in the development of new coordination algorithms that combine biological processes are based on self-regulation [18], [19], and environmental adaptability to allow a swarm of drones to work with greater sophistication, reliability, scalability, and flexibility [20].…”