CAJ | 학술논문

　　多个无人机（ UAV）组成编队执行协同探测、侦察、作战等任务的整体性能相比单个UAV会有很大程度的提高。将UAV编队执行任务的生命周期分为编队形成、编队向任务区域飞行、编队向任务区域飞行过程中动态调整队形、编队进入任务区域执行任务并动态调整队形、编队返回、编队解散6个阶段，并归结为编队集结、编队保持和编队重构3个关键技术问题。对它们的研究现状进行了分析和总结，并对未来的发展方向和研究挑战进行了展望。
　　다개무인궤（ UAV）조성편대집행협동탐측、정찰、작전등임무적정체성능상비단개UAV회유흔대정도적제고。장UAV편대집행임무적생명주기분위편대형성、편대향임무구역비행、편대향임무구역비행과정중동태조정대형、편대진입임무구역집행임무병동태조정대형、편대반회、편대해산6개계단，병귀결위편대집결、편대보지화편대중구3개관건기술문제。대타문적연구현상진행료분석화총결，병대미래적발전방향화연구도전진행료전망。
Compared with a single Unmanned Aerial Vehicles ( UAV),the UAV formation of has a better overall performance in cooperative detection,reconnaissance or combat .The task execution lifecycle of UAV formation is divided into six stages,including formation forming,formation flying toward the task area,formation reconfiguration while flying toward the task area,formation reconfiguration while performing tasks in the task area,formation return and formation dissolution .These six stages are summarized in three key technical issues including formation rendezvous,formation keeping and formation reconfiguration .The current situation of study on them is discussed and analyzed respectively .Finally,the future development challenges and research tendency are proposed .