Optimization of ensuring tactical formation during joint flight

The procedure of mathematical formulation of tactical formation of UAV groups participating in a joint flight is proposed. An algorithm for controlling the flight of a group along a planned route in a set formation is given, based on the System-of-Systems principles. It is assumed that the control is performed by each UAV autonomously and is based on the information about the positions of neighboring UAVs. The problem of UAV changing formation is also investigated and an optimal solution is proposed.