| Abstract: |  The goal of this thesis is to modify the Particle Swarm Optimization algorithm to allow its use with small UAVs and utilize it for the task of locating the source of a smoke. Since the PSO algorithm requires the swarm individuals to know their immediate position, several means of absolute localization of the robots have to be devised and used. In order to avoid collisions, a means of relative robot localization must be used. First, a simple version of the PSO algorithm using particles with no constraints will be used in combination with a simple fitness function. After tuning the algorithm's parameters, it will be used to find a source of a smoke and further tested. Then, the PSO algorithm modified using the real quadrotor constraints will be tested with the same basic fitness function. Eventually, the combination of these two approaches will yield an algorithm applicable on real quadrotors and the task of locating a smoke source.
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