A. Phase diagram showing emergent collective states of a drone swarm as alignment and attraction vary. Different collective behaviors emerge as interaction strengths change, ranging from loosely organized swarms (swarming state) to highly aligned motion (schooling state), with a transition region where the system becomes highly sensitive. and responsive to disturbances (critical state). B. 3D-trajectories and their projections on the XY plane of the collective states displayed by a swarm of 10 Bebop 2 Parrot drones flying in free space.