I thought I would post some information about some research I have done.
This video shows a simulation of UAVs swarming with an advanced control algorithms.
Seven UAVs are shown, which find a source of fumes or aerosols by measuring the concentration at their actual position. Due to communication and a distributed Extended Kalman Filter they estimate the fumes position. These UAVs fly at a certain concentration line, which in the video is marked blue.
This is just a demonstartion of one kind of task for the swarm.