  This paper presents the design and implementation of a self-reconfigurable
V-shape formation controller for multiple unmanned aerial vehicles (UAVs)
navigating through narrow spaces in a dense obstacle environment. The selection
of the V-shape formation is motivated by its maneuverability and visibility
advantages. The main objective is to develop an effective formation control
strategy that allows UAVs to autonomously adjust their positions to form the
desired formation while navigating through obstacles. To achieve this, we
propose a distributed behavior-based control algorithm that combines the
behaviors designed for individual UAVs so that they together navigate the UAVs
to their desired positions. The reconfiguration process is automatic, utilizing
individual UAV sensing within the formation, allowing for dynamic adaptations
such as opening/closing wings or merging into a straight line. Simulation
results show that the self-reconfigurable V-shape formation offers adaptability
and effectiveness for UAV formations in complex operational scenarios.
