| Abstract: |  This document deals with the design, implementation, testing and comparing the escape behavior algorithms designed for swarms of MAVs (Micro Aerial Vehicles) — unmanned helicopters. This algorithm decreases the possibility of collision of a swarm with dynamic obstacles. Escape behavior algorithm presented in [1] designed for ground robots is analyzed and the algorithm is modified for use in MAVs with further modifications depending on type and range of onboard sensors of MAVs. The proper functionality and
readiness for real use of designed algorithms is verified by simulations in V-REP robotic platform, which enables to simulate realistic flight conditions. Simulation results are further analyzed and compared.
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