Fecha de publicación: 26/12/2019 Fuente: WIPO "swarm" A drone system for orchestration in heterogeneous drone swarms is configured to perform operations comprising receiving, at a lead drone of a drone swarm, from a candidate drone, a request to join the drone swarm; transmitting a swarm directive to the candidate drone; evaluating the candidate drone to determine whether the candidate drone is compatible with the swarm directive; and adjusting the swarm directive to accommodate the candidate drone when the candidate drone is compatible with the swarm directive, to add the candidate drone to the drone swarm.