Fecha de publicación: 30/09/2021 Fuente: WIPO "swarm" A control system in a delivery system performs a method of controlling unmanned aerial vehicles, UAVs, which are organized in a group or swarm to perform one or more missions to deliver and/or pick up goods. The method includes obtaining drag data indicative of air resistance for one or more UAVs in the group, determining, as a function of the drag data, a respective relative position of at least the one or more UAVs within the group, and controlling at least the one or more UAVs to attain the respective relative position. Such adjustment in the relative position of one or more UAVs enables improved energy efficiency and may be made to reduce energy consumption, increase reach or decrease travel time of at least one UAV in the group.