cs.ROOct 13, 2026

An Optimal Algorithm for Changing from Longitudinal to Latitudinal Formation of Autonomous Aircraft Squadrons

Authors: Paulo André Sperandio Giacomin, Elder Moreira Hemerly

Organizations: Universidade Estadual de Santa Cruz Departamento de Ciências Exatas e Tecnológicas - Área de Informática Ilhéus-BA, Brasil · Instituto Tecnológico de Aeronáutica Departamento de Sistemas e Controle - Divisão de Engenharia Eletrônica São José dos Campos-SP, Brasil

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Abstract

This work presents an algorithm for changing from longitudinal to latitudinal formation of autonomous aircraft squadrons. The maneuvers are defined dynamically by using a predefined set of 3D basic maneuvers. This formation change is necessary when the squadron has to perform tasks demanding both formations, such as landing, lift-off, obstacle avoidance and georeferencing. The time complexity analysis of the transformation algorithm reveals that its efficiency is optimal. Simulations show that the formation change is done without collision, and the proof of correctness ensures its latitudinal formation features.

Figures & tables

Figure 1: The longitudinal formation can be used for collision avoidance, landing and lift-off.
Figure 2: It is possible to achieve good area coverage with the latitudinal formation.
Figure 3: An aircraft goes out from the middle line when it assumes the latitudinal formation.
Figure 4: The aircraft references are marked for crossing analysis.
Figure 5: The aircraft trajectories succeed in following the references.
Figure 6: All aircraft velocities are stable.
Figure 7: First aircraft heading angle switches between two values.
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