Abstract. Although, the quadcopter drone systems have significantly impacted the drone industry, they are considered to be complicated due to the nature of cooperation in accomplishing specific missions. The complications come from the way of movements and arranges in flying tasks which need to be guided in a certain way and have the skill of obstacle dodging. In this research, a developed proposal of a hybrid robot biological swarming algorithm introduced a significant enhancement in swarming rules and blended between the leadership and members’ movement control. This enhancement comes from combining two major abilities from observing the selected biological swarms. From the bird flocks the quadcopter drone will have the capability of formations, obstacle avoidance, and safe distance keeping while flying while preserving the ability to alter directions and speed. However, due to the lack of ability to guide the quadcopter drones into specified stored locations which limits the potential applications, the use of ant colony swarm inspiration has solved this issue. The developed algorithm is suitable for a wide range of real-time applications such as firefighting in open lands, rescue missions, delivery, and scanning in time of disasters, and agricultural field like air scanning, health status, and irrigation condition. Keywords: robot swarming; biological inspiration; biomimetic; quadcopter drone; hybrid swarming.
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