A Behavioral Model for Single Leader: Leader-Follower Drone Swarm in Leader’s Failure

The single-leader, leader-follower formation control algorithm is one of the most frequently used formation control approaches in the domain to control drone swarms because of its simple design and overall operational simplicity. However, the major concern faced by such algorithms is the single point of failure problem. This research suggests a distributed leader election approach by incorporating capability-aware measurement to solve the single point of failure problem. The proposed algorithm has three timely bounded phases, and it elects a leader who has the highest capability to be the leader concerning the situation. The performance of the proposed algorithm is assessed using the scenario-based simulations conducted on the SITL simulation environment and showcased the expected behavior from the drone swam in different stages of the simulations.