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Guan et al. Intell Robot 2024;4(1):61-73 Intelligence & Robotics
DOI: 10.20517/ir.2024.04

Research Article Open Access

Metropolis criterion pigeon-inspired optimization for
multi-UAV swarm controller

Jinghua Guan, Hongfei Cheng
School of Computer Science and Technology, Beijing University of Technology, Beijing 100124, China.

Correspondence to: Jinghua Guan, School of Computer Science and Technology, Beijing University of Technology, 100 Pingleyuan,
Chaoyang District, Beijing 100124, China. E-mail: gd21110112@emails.bjut.edu.cn
How to cite this article: Guan J, Cheng H. Metropolis criterion pigeon-inspired optimization for multi-UAV swarm controller. Intell
Robot 2024;4(1):61-73. http://dx.doi.org/10.20517/ir.2024.04

Received: 27 Nov 2023 First Decision: 20 Dec 2023 Revised: 11 Jan 2024 Accepted: 27 Feb 2024 Published: 8 Mar 2024
Academic Editors: Haibin Duan, Simon X. Yang Copy Editor: Dong-Li Li Production Editor: Dong-Li Li

Abstract
This paper presents a new multiple unmanned aerial vehicle swarm controller based on Metropolis criterion. This
paper presents the design of a controller, utilizing the improved Metropolis criterion pigeon-inspired optimization
(IMCPIO) and proportional-integrational-derivative (PID) algorithms, and conducts comparative experiments. Sim-
ulation outcomes demonstrate the enhanced performance of the multi-unmanned aerial vehicle formation controller,
which is based on IMCPIO, when compared to the basic pigeon-inspired optimization (PIO) algorithm and the genetic
algorithm. The IMCPIO algorithm for the energy difference discrimination makes it a faster convergence and more
stable effective optimization. Hence, the controller introduced in this study proves to be both practical and resilient.

Keywords: Pigeon-inspiredoptimization, Metropoliscriterion, unmanned aerial vehicle, formationcontrol, proportional-
integrational-derivative

1. INTRODUCTION
[1]
There has been a growing trend in the application of multi-unmanned aerial vehicles (UAVs) across a range
ofmilitaryandciviltasks, suchasmilitaryreconnaissance, surveillance, targetidentification, searchandrescue,
and public safety maintenance. Compared to single UAVs, multiple UAVs have significant advantages. For
example, during military reconnaissance missions, a single UAV has a limited sensor angle, which cannot
cover its task area comprehensively and is vulnerable to enemy interference. Moreover, a single UAV may have
insufficient flight range, safety, and attack power, which may compromise its reliability and performance. On

© The Author(s) 2024. Open Access This article is licensed under a Creative Commons Attribution 4.0
International License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, shar-
ing, adaptation, distribution and reproduction in any medium or format, for any purpose, even commercially, as long as you
give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate
if changes were made.

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