Method for exchanging data between drones of a drone swarm

A method for exchanging data between drones of a swarm of drones, the swarm of drones comprising at least four drones, each drone being provided with an identifier specific to the drone, each drone comprising at least one transmitter, at least one receiver and a computer, each receiver comprising a pixel matrix configured so that each signal is received on a number of pixels of the pixel matrix that is strictly less than a total number of pixels of the pixel matrix, the method comprising, at each moment:

• emitting, by the transmitter of each drone, a signal comprising data to be emitted, the data to be emitted comprising the identifier of the drone, as well as a direction and the identifier of each signal received at a preceding moment by the receiver of the drone,
• receiving, by the receiver of at least one drone, called the receiver drone, the signal emitted by at least one other drone of the swarm,
• determining, by the computer of each receiver drone, the direction of each signal received as a function of a position of the pixel or pixels of the pixel matrix receiving the signal, and
• determining, by the computer of each receiver drone, for each received signal, a relative position of the drone corresponding to the identifier of the received signal as a function of the direction determined for the received signal and of at least two directions obtained at the preceding moment by the receiver of the receiver drone and corresponding to a same identifier as the received signal.