Obstacle avoidance in swarm environment

I am currently working on obstacle avoidance in swarm environment.
In a swarm environment, we can assume that, each copter knows the location and attitude of other copters. When changing the shape of swarm for example from square to circle, there may be situations when copters may collide with other copters. I want to avoid obstacles at such instances.

Is there any existing project relating to this!?

Thanks in advance!!

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Iā€™m very interested in this topic as well. Did you make any progress?
What copter/sensors/ground station do you use to fly the swarm ?