  This work presents an algorithm for changing from latitudinal to longitudinal
formation of autonomous aircraft squadrons. The maneuvers are defined
dynamically by using a predefined set of 3D basic maneuvers. This formation
changing is necessary when the squadron has to perform tasks which demand both
formations, such as lift off, georeferencing, obstacle avoidance and landing.
Simulations show that the formation changing is made without collision. The
time complexity analysis of the transformation algorithm reveals that its
efficiency is optimal, and the proof of correction ensures its longitudinal
formation features.
