# Changing the Formations of Unmanned Aerial Vehicles
## 6 Conclusions  
This article has presented the tests conducted on an autonomous air system. The tests focused on formation changes in UAVs. An autonomous air system consists of UAV quadrotors. This kind of UAV is easy to design and can be tested on a small training ground.  
The formation should ensure the safe operation of individual UAVs (collision avoidance) and optimal task execution. Depending on the nature of the task, and environmental conditions, the configuration of the UAV formation changes. The UAV formation is active and adjusts its structure and organization to the factors mentioned above. Therefore, it is crucial to develop scenarios and algorithms for the operation of each formation.  
This article has primarily focused on the reconfiguration of formations. The results of the developed UAV reconfiguration algorithm have been presented and executed at the command of the \"leaders\" forming the command/control chains of UAV teams. Individual UAVs maintain their positions relative to the \"leader\" of the formation, who does not change position during reconfiguration. Other UAVs, upon the command of the \"leader\", perform the task of maintaining separation from the reference point (in this case, the \"leader\"). We have presented two formations: the line and the triangle. The tests focused on creating a formation after take-off, reconfiguring the formation from a line to a triangle, and going back to the line formation.  
Figure 28: Line formation (**a**) and triangle formation (**b**).  
Figure 27: Changes in the horizontal speed of UAVs during multiple changes in flight formation.  
An algorithm has been developed and implemented in the flight management system for UAVs. The algorithm designed by the authors generates setpoint values for motion parameters transmitted to the UAV's flight control system. This article has not disclosed the details of the flight management algorithm regarding formation, stabilization, and maintenance during flight due to copyright protection.  
The algorithm was constructed for the formations of quadrotors. Therefore, it can only be used for this class of UAVs. The basis for its development was position determining. This solution can be used there because the multirotor can fly at a low speed and hover so that multirotors in a formation can wait for each other.  
The use of an algorithm to control the formations of fixed-wing aircraft requires the introduction of many changes. The position cannot be the basis for an algorithm of building a formation. The authors of the article are working on fixed-wing formations.  
The presented limitations should not be considered defects or limitations. Multirotors and fixed-wing UAVs fulfill different tasks.  
The main goal of this research has been to design a system that one person can control. Further research will focus on formation flights while ensuring formation coherence and increasing the number of UAVs in a formation. The authors intend to present the results of flight formation research in subsequent articles.  
Conceptualization, K.F. and M.K.; methodology, K.F.; software, M.K.; validation, K.F. and M.K.; formal analysis, K.F.; investigation, K.F. and M.K.; resources, M.K.; data curation, K.F.; writing--original draft preparation, K.F. and M.K.; writing--review and editing, K.F.; visualization, K.F.; supervision, K.F.; project administration, K.F.; funding acquisition, K.F. All authors have read and agreed to the published version of the manuscript.  
This research received no external funding.  
The original contributions presented in the study are included in the article, further inquiries can be directed to the corresponding author.  
The authors declare no conflict of interest.