Abstract
<title>Abstract</title> <p>This paper presents a framework for runtime management of drone swarms. Itenables dynamic adaptation of swarm sizes and formations, supports human-swarm interactions, and ensures collision free operation of multiple swarms.Unlike offline trajectory-based formation flying, the framework allows sponta-neous addition or removal of drones without disrupting operations. Drones withlow battery levels can be seamlessly replaced by charged units. The frame-work was demonstrated using Crazyflie drones and a Vicon motion trackingsystem. A charging infrastructure for 50 drones, utilizing QI wireless charg-ing pads, ensures continuous power supply for non-flying drones. Lightweightactive infrared LEDs were developed for position tracking, replacing conventionalpassive reflective markers. Interactive control mechanisms, such as a gesture-based ”magic wand,” enable intuitive swarm control and interaction with othertracked objects. The framework and hardware extensions provide a developmentsandbox for swarm applications with real hardware. Two case studies and empir-ical evidence demonstrate the feasibility of continuous drone operation throughautonomous replacement.</p>