Adaptation Strategy for a Distributed Autonomous UAV Formation in Case of Aircraft Loss

Controlling a distributed autonomous unmanned aerial vehicle (UAV) formation is usually considered in the context of recovering the connectivity graph should a single UAV agent be lost. At the same time, little focus is made on how such loss affects the dynamics of the formation as a system. To compensate for the negative effects, we propose an adaptation algorithm that reduces the increasing interaction between the UAV agents that remain in the formation. This algorithm enables the autonomous system to adjust to the new equilibrium state. The algorithm has been tested by computer simulation on full nonlinear UAV models. Simulation results prove the negative effect (the increased final cruising speed of the formation) to be completely eliminated.