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The dynamic uncertain environment and complex tasks determine that the unmanned aerial vehicle (UAV) system is bound to develop towards clustering, autonomy,and intelligence. In this paper, we present a comprehensive survey of UAV swarm intelligence from the hierarchical framework perspective. Firstly, we review the basics and advances of UAV swarm intelligent technology. Then we look inside to investigate the research work by classifying UAV swarm intelligence research into five layers, i.e.,doi:10.1109/access.2020.3028865 fatcat:bvru22a2jregnmzbpehefg7irm