From individual intelligence to collective intelligence. In a swarm, intelligence is not concentrated in a single unit. It resides partly in each drone’s individual capabilities (sensing, flight control, local decision making, and uncertainty estimation), partly in the interactions among drones (observing and exchanging information with nearby drones and imitation with uncertainty), and partly in the collective dynamics that emerge from those interactions (emergent behaviour, shared knowledge, and adaptive coordination). This layered structure means that the swarm can be more capable than any of its members, without requiring central control.