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Controlling a distributed autonomous unmanned aerial vehicle (UAV) formationis usually considered in the context of recovering the connectivity graphshould a single UAV agent be lost. At the same time, little focus is made onhow such loss affects the dynamics of the formation as a system. To compensatefor the negative effects, we propose an adaptation algorithm that reduces theincreasing interaction between the UAV agents that remain in the formation.This algorithm enables the autonomous system to adjust to the new equilibriumstate. The algorithm has been tested by computer simulation on full nonlinearUAV models. Simulation results prove the negative effect (the increased finalcruising speed of the formation) to be completely eliminated.

Adaptation Strategy for a Distributed Autonomous UAV Formation in Case of Aircraft Loss