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We evaluate the performance of uncrewed aerialvehicle (UAV) swarms under visual occlusions caused byneighboring agents. We propose a simplified visibility model andperformance metrics for evaluation. Our findings show thatneighbor selection based on Delaunay triangulation outperformsother strategies for larger swarms, maintaining stable formationand alignment. Results are validated in simplified point massdynamics and more realistic quadrocopter dynamicsenvironments.

UAV swarm; vision-based localization; formation control; decentralized coordination; artificial potential field.