# Changing the Formations of Unmanned Aerial Vehicles
###### Abstract  
The development of hierarchical structures of unmanned aerial vehicles (UAVs) increases the efficiency of unmanned aerial systems. The grouping of UAVs increases the region of recognition or force of assault. Achieving these requirements is possible through a UAV formation. The UAVs in the formation must be controlled and managed by a commander, but the commander cannot control individual UAVs. The UAVs within the formation have assigned specific individual tasks, so is possible to achieve the flight of the formation with minimum collisions between UAVs and maximized equipment utilization. This paper aims to present a method of formation control for multiple UAVs that allows dynamic changes in the constellations of UAVs. The article includes the results of tests and research conducted in real-world conditions involving a formation capable of adapting its configuration. The results are presented as an element of research for the autonomy swarm, which can be controlled by one pilot/operator. The control of a swarm consisting of many UAVs (several hundred) by one person is now a current problem. The article presents a fragment of research work on high-autonomy UAV swarms. Here is presented a field test that focuses on UAV constellation control. unmanned aerial vehicle; mobile robotics; unmanned aerial system; formation; quadrotor 2024 1  
* The UAVs are merged as a swarm (the UAVs behave as structures modeled on natural processes taken from nature). The last area of activity concentrates on collaboration between manned and unmanned vehicles. Future war assumes a saturation with UAVs. However, UAVs can be a threat to manned vehicles. The UAV can change its trajectory under the influence of natural disturbances and the activity of the enemy, which can lead to collisions with the manned vehicle. The problem of collaboration between manned and unmanned vehicles especially applies to manned and unmanned teams (MUTs), which use mini-UAVs. This type of UAV cannot be equipped with a high-precision navigation and communication system. The way to solve this problem is to develop a formation of MUTs with different constellations of manned and unmanned vehicles. The role of each vehicle is distributed by individual task allocation. Flights in UAV formations represent a groundbreaking innovation in the fields of robotics and aviation technology. Drawing inspiration from nature, such as from the flight of birds, this concept opens up new possibilities in scientific research and commercial applications. This article delves into the technical and operational aspects of drone formation flights, analyzing key challenges such as synchronization, navigation, and collision avoidance. A UAV system consist of a ground station, communication systems, and unmanned aerial vehicles (UAVs). The ground station can simultaneously monitor the operations of multiple UAVs. Therefore, the management of the airspace, where unmanned aerial vehicles operate, becomes a crucial issue. The form of management depends on the system's purpose or the tasks it is meant to perform. Various examples of tasks performed by UAVs--both civilian and military--can be presented. The system's management style is influenced by the degree of autonomy. A low degree of autonomy assigns superior functions to personnel while increasing autonomy significantly reduces the need for personnel but places high demands on self-organization, learning capabilities, and decision optimization by UAVs. Increasing autonomy requires higher levels of automation, structure-state monitoring, and environmental monitoring. Advanced control systems on board UAVs and the ground station (GS) are crucial elements of the system. The organization and control of UAV formations are areas of interest for scientific communities. Countries striving to catch up in the technological race in the field of manned aircraft and large UAVs show significant activity in this area. Research focused on the use of small and simple UAVs aims to increase system efficiency through group and swarm operations.