# Changing the Formations of Unmanned Aerial Vehicles
## 3 Small Unmanned Aerial Vehicle
### The Control System of the Quadrotor
This system stores information about the flight path, UAV altitudes at the waypoints, UAV velocity, and task allocation (Figure 6). The task allocation assigns a UAV position in the formation. The flight manager system has a radio connecting it with the formation leader. The leader can influence a UAV task. The FMS, from the flight plan, task allocation, and leader's orders, creates the desired position, altitude, and velocity. Artificial intelligence algorithms are used to obtain flight parameters (Figure 6). This system is necessary when the UAV performs autonomous flight. The electronic equipment of a UAV is shown in Figure 7.  
\[\text{F}_{1} =\text{F}_{\text{H}}-\text{F}_{\Phi}-\text{F}_{\theta}+\text{kM}_{ \text{b}};\]0 Flight manager system. The next test focused on the stabilization speed and heading. The stabilization of the horizontal movement parameters was tested there. The flying platform, after take-off, flew to the desired point (waypoint). If the UAV achieved a waypoint, it changed course to a counter-course. Figure 10 presents the speed of the UAV. The desired speed was equal to 10 m/s. The altitude and heading are presented in Figures 11 and 12.  
rectangle, triangle, or hexagon (Figure 13). Each unmanned aerial vehicle has an identifier (ID) that determines the position of the aircraft in the formation (Figure 13). The primary task of maintaining the formation is to avoid collisions during the flight of unmanned aerial vehicles (UAVs). Coordinated UAV operation in the same airspace can lead to collisions; therefore, the formation provides separation between UAVs (Figure 9). The separation value is determined by both UAV motion parameters as well as the resolution and precision of navigation sensors. Maintaining separation ensures the safe operation of the formation. This is the main task of the formation control system. The formation commander sends information about the desired position of the formation. UAVs obtain new positions in the formation and move to a new location (UAVs consider information about the memorized separation--Figure 14). \[\text{F}_{1} =\text{F}_{\text{H}}-\text{F}_{\Phi}-\text{F}_{\theta}+\text{kM}_{ \text{b}};\]1 Horizontal separations in formation. \[\text{F}_{1} =\text{F}_{\text{H}}-\text{F}_{\Phi}-\text{F}_{\theta}+\text{kM}_{ \text{b}};\]2 Flight formation configurations: (**a**) the line formation; (**b**) the triangle formation. If the formation changes, the team leader sends information about the desired constellation. The UAVs obtain new positions in the formation. After a series of necessary calculations, the appropriate command is sent to the flight controller. The UAVs change altitude before they change positions. This step ensures vertical separation between UAVs and the safe horizontal movement of UAVs during moving to the new positions. The procedure change of the formation finishes when the UAVs come back to the desired altitude. When the leader sends information about the new position of the formation (frequently, this is the position of the leader), all UAVs obtain the new desired position. After a command from the leader, the formation moves to the new position (Figure 15).