Multiple unmanned aerial vehicle autonomous coordination

A system comprising:

• a plurality of unmanned aerial vehicles operating in a three-dimensional space, each of said unmanned aerial vehicles in turn comprising a memory, at least one processor coupled to said memory, an on-board double lens camera coupled to said processor, and a wireless interface to a remote controller;
• wherein each of said processors of said plurality of unmanned aerial vehicles is configured to:
• determine, based on two-dimensional camera images from at least said on-board double lens camera of the unmanned aerial vehicle carrying said processor, current relative locations of other ones of said plurality of unmanned aerial vehicles which are visible to that unmanned aerial vehicle, wherein determining said current relative locations comprises applying multidimensional scaling to said two-dimensional camera images;
• wirelessly transmit said current relative locations to the remote controller;
• wirelessly receive, from the remote controller, a specification of a path to be followed by the unmanned aerial vehicle carrying said processor;
• and
• carry out on-board collision avoidance based on said two-dimensional camera images from said on-board double lens camera, while following said path.

A non-transitory computer readable medium comprising computer executable instructions which when executed by a computer cause the computer to perform the method of:

• at each of a plurality of unmanned aerial vehicles operating in a three-dimensional space, determining, based on two-dimensional camera images from at least an on-board double lens camera of that unmanned aerial vehicle, current relative locations of other ones of said plurality of unmanned aerial vehicles which are visible to that unmanned aerial vehicle, wherein determining said current relative locations comprises applying multidimensional scaling to said two-dimensional camera images;
• wirelessly transmitting said current relative locations from each of said plurality of unmanned aerial vehicles to a controller;
• wirelessly receiving, at each of said plurality of unmanned aerial vehicles, from said controller, a specification of a path to be followed by that unmanned aerial vehicle;
• and
• at each of said plurality of unmanned aerial vehicles, carrying out on-board collision avoidance based on said two-dimensional camera images, while following said path.