Heterogeneous swarming (park cleaning)

This example illustrates a purely ad hoc scenario, whereby a heterogeneous swarm of UAVs and robots strives to clean a public park collectively. In this scenario, robots can detect and clean wastes of a certain type (red or blue) only if these are within their sensing range (depicted by a surrounding circle). However, they are pretty slow to move and cannot detect remote wastes. In the meantime, a set of UAVs is patrolling over the park at higher speed and with larger sensing range. Whenever they detect a waste of some type, they store its position and start searching for a capable robot. In addition to sensing capabilities, UAVs can exchange messages with each other to optimize the process.