An optimal algorithm for changing from longitudinal to latitudinal formation of autonomous aircraft squadrons

Resumen

This work presents an algorithm for changing from longitudinal to latitudinal formation of autonomous aircraft squadrons. The maneuvers are defined dynamically by using a predefined set of 3D basic maneuvers. This formation changing is necessary when the squadron has to perform tasks which demand bothformations, such as landing, lift off, obstacle avoidance and georeferencing. The time complexity analysis of the transformation algorithm reveals that its eficiency is optimal. Simulations show that the formation changing is

made without collision and the proof of correction ensures its latitudinal formation features.