Open Access


Leader-Follower UAV Formation Model Based on R5DOS-Intersection Model

Jian Li1,3, Weijian Zhang1, Yating Hu1,4, Xiaoguang Li2,*, Zhun Wang1
1 College of Information Technology, Jilin Agricultural University, Changchun, 130118, China
2 College of Electricity and Information, Changchun Guanghua University, Changchun, 130033, China
3 Bioinformatics Research Center of Jilin Province, Changchun, 130118, China
4 Department of Mathematical Sciences, Delaware State University (DSU), Dover, 19901, DE
* Corresponding Author: Xiaoguang Li. Email:

Computers, Materials & Continua 2021, 69(2), 2493-2511.

Received 19 March 2021; Accepted 03 May 2021; Issue published 21 July 2021


This paper proposes a formation of multiple unmanned aerial vehicles (UAVs) based on the R5DOS (RCC-5 and orientation direction) intersection model. After improving the R5DOS-intersection model, we evenly arranged 16 UAVs in 16 spatial regions. Compared with those of the rectangular formation model and the grid formation model, the communication costs, time costs, and energy costs of the R5DOS model formation were effectively reduced. At the same time, the operation time of UAV formation was significantly enhanced. The leader-follower method can enhance the robustness of the UAV formation and ensure the integrity of communication during UAV formation operation. Finally, we conducted a simulation experiment on the model and found that the R5DOS model formation was stable and could maintain the desired formation. The randomly generated UAVs could quickly fly to the formation path in a short time, establish formation, and carry out operations. When the leader fails, the follower could travel to the original trajectory of the failed leader in a short time, replace the leader, and continue to communicate and improve the robustness of the formation. To sum up, the UAV formation based on the R5DOS model has the advantages of long operation time, strong endurance, low communication cost, and stable formation, which is of great significance for research on UAV formation.


Artificial intelligence; RCC theory; R5DOS intersection matrix; UAV formation; communication

Cite This Article

J. Li, W. Zhang, Y. Hu, X. Li and Z. Wang, "Leader-follower uav formation model based on r5dos-intersection model," Computers, Materials & Continua, vol. 69, no.2, pp. 2493–2511, 2021.

This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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