Toward Autonomous UAV Swarm Navigation: A Review of Trajectory Design Paradigms

The development of efficient and reliable trajectory-planning strategies for swarms of unmanned aerial vehicles (UAVs) is an increasingly important area of research, with applications in surveillance, search and rescue, smart agriculture, defence operations, and communication networks. This article provides a comprehensive and critical review of the various techniques available for UAV swarm trajectory planning, which can be broadly categorised into three main groups: traditional algorithms, biologically inspired metaheuristics, and modern artificial intelligence (AI)-based methods. The study examines cutting-edge research, comparing key aspects of trajectory planning, including computational efficiency, scalability, inter-UAV coordination, energy consumption, and robustness in uncertain environments. The strengths and weaknesses of these algorithms are discussed in detail, particularly in the context of collision avoidance, adaptive decision making, and the balance between centralised and decentralised control. Additionally, the review highlights hybrid frameworks that combine the global optimisation power of bio-inspired algorithms with the real-time adaptability of AI-based approaches, aiming to achieve an effective exploration-exploitation trade-off in multi-agent environments. Lastly, the article addresses the major challenges in UAV swarm trajectory planning, including multidimensional trajectory spaces, nonlinear dynamics, and real-time adaptation. It also identifies promising directions for future research. This study serves as a valuable resource for researchers, engineers, and system designers working to develop UAV swarms for real-world, integrated, intelligent, and autonomous missions.