Fig.1

Formation configuration efficiency index system"

Table 1

Basic formation and its coding table"

编队规模	队形
2
3

Fig.2

Hierarchical formation coding and decoding process"

Fig.3

Performance index system of communication network topology parameters"

Table 2

Fixed-wing UAVs performance indicators"

Fig.4

Battlefield environment deployment"

Fig.5

Virtual leader unmanned aerial vehicle motion curve"

Fig.6

Formation configuration optimization process"

Fig.7

Evolution process of situation field under basic formation 100"

Table 3

The 1st iteration optimal process of different basic formations"

Fig.8

The 1st fitness histogram of different basic formations"

Table 4

Optimization of formation parameters"

Fig.9

Optimized result of formation configuration"

Fig.10

Comparison of global optimization and the proposed algorithm"

Fig.11

Unmanned aerial vehicle formation available for routing settings"

Fig.12

Q value network training process and effect of No.4 unmanned aerial vehicle"

Fig.13

Communication topology optimization results"

Fig.14

Optimal performance of different routing strategies under different settings"