At least three different techniques are presented that facilitate cluster formation in clusterable devices such as drones. The techniques facilitate power saving in the individual clusterable devise as well as for the entirety of the cluster. The first technique utilizes a NAN application based cluster formation decision. The second technique initiates a cluster grade merging evaluation based on a “merge allowed” field in a synchronization beacon set by the discovery engine. The third technique involves a discovery engine managing cluster formation with pre-set cluster grade information.