Swarm of Robots Coordination Strategy Based on WSN Packages Transmission and Supervisors´ External Commands

The use of Unmanned Aerial Vehicles (UAV) has been quite increased in last years. These devices can be used in a variety of applications: from urban monitoring to even military services and borders patrol. Their use may be directly connected to the concept of Wireless Sensor Networks (WSNs). The behavior of the robots can act as a way to move WSN nodes while assuring the communication between the nodes (robots). These features turn the network able to perform the mentioned tasks. However, as significant as the task to be performed, is the external monitoring of its successful completion or not. It allows the operator to take the most appropriate decision. This paper focuses on the preliminary results of a real-time external vision of a swarm of UAVs acting as a WSN. Quantitative simulation verification from the communication packages flow is extracted.