Fecha de publicación: 18/05/2017 Fuente: WIPO "swarm" A method, system, and recording medium including a drone and pattern recruiting device configured to recruit a plurality of drones based on a mission, a flocking goal device configured to arrange the plurality of drones in the drone-swarm in a pattern to satisfy the mission, and a changing device configured to adaptively change the pattern of the drone-swarm based on a condition of the mission indicating a needed change and to cause the drone and pattern recruiting device to recruit an additional drone for the needed change.