Inspiration by nature is one of the most substantial elements in throughout the history of mankind for human progress. Although the system imitated was intended to serves the best interests of man, it has occasionally been the subject of conflicts. Today, the machines are to proceed in the absence of humans. “Swarming” concept is the highest stage that this autonomous structure has reached.

The system can be associated with such terms as giving birth, proliferation and congregation, the examples of which are abound in nature. Before dealing with unmanned autonomous systems based on swarming, it is essential to shed light on these terms.