Autonomous Close Formation Flight Control with Fixed Wing and Quadrotor Test Beds

Table 12

Proximity between leader and follower during FF.

Aircraft proximity during FF
		Straight legs			Turns
	Clearance (m)	Max (m)	Min (m)	Mean (m)	Max (m)	Min (m)	Mean (m)
Flight 5	12.2	16.41	14.43	15.42	22.52	14.48	18.50
Flight 7	12.3	15.28	13.56	14.42	20.82	15.54	18.17
Flight 8	12.3	15.06	12.88	13.97	23.57	13.42	18.49
Flight 10	12.3	16.58	13.33	14.96	24.10	18.63	21.81
Flight 11	12.5	15.62	12.48	14.05	21.32	16.64	18.98
Flight 12	12.5	15.84	13.26	14.55	26.56	19.70	23.13
Flight 13	12.5	15.85	13.74	14.79	21.99	17.65	19.82
Flight 14	10.0	22.28	15.69	18.98	30.49	19.57	25.03
Flight 15	10.0	33.45	11.28	22.36	34.15	11.78	22.96
Flight 16	0.50	6.097	6.253	6.175	24.03	14.53	19.28
Flight 17	0.50	3.768	1.635	2.701	21.18	6.279	13.73
Flight 18	0.50	8.619	1.367	4.993	22.69	1.413	12.05