Reconfiguration Between Longitudinal and Circular Formations for Multi-UAV Systems by Using Segments

In typical monitoring applications, such as fires or deforestation, the agents of the unmanned aircraft squadron must follow a circular motion. However, for other applications, including take off and landing, the squadron must obey the longitudinal formation. In this work an algorithm is proposed to reconfigure the unmanned aircraft squadron between its latitudinal and circular formations. The algorithm is designed by using a new approach based on segments. The time complexity of the proposed algorithm is analyzed and its correction is proved. The proof of correction is confirmed by the simulations.