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This paper presents an analysis of a model for the coordination of multiple unmanned aerial vehicles (UAVs) using a swarm intelligence approach based on Particle Swarm Optimization. The model considers locomotion constraints, anti-collision mechanisms, ad hoc communication and environmental perception information from the UAVs sensors. We analyze the performance in terms of target tracking and energy consumption. We developed a simulator with a graphic user interface to allow the visual analysis of the swarm of UAVs.