Coverage Control for UAV Swarm Communication Networks: A Distributed Learning Approach

Abstract

Recently, unmanned aerial vehicle (UAV) swarm communication has drawn much attention in search and rescue (SAR) missions owing to its wide wireless coverage and increasing autonomy in navigation. In this article, we consider maximizing the downlink wireless coverage of a UAV swarm in an unknown mission area by controlling the quasistationary deployments of UAVs. Particularly, the stochastic wireless link failures caused by channel fading and noise in UAV-to-UAV communication links are considered in coverage control. Specifically, due to delay sensitivity and onboard energy limitation of UAV-enabled SAR networks, we study a distributed control strategy where swarm UAVs can address the coverage problem by exchanging only the local information. In this case, the wireless coverage problem is divided into several distributed optimization subproblems. However, due to the integer variable and nonlinear constraints, each subproblem is nonconvex and mutually coupling, which makes it difficult to solve via standard convex optimization solvers. Thus, we model the UAV swarm network as an undirected random graph and then solve the optimization subproblems by formulating a UAV swarm wireless coverage game. As per the designed utility function and potential function of the formulated game, existence of the pure Nash equilibrium is discussed and a distributed algorithm is developed to achieve the best Nash equilibrium. We analyze the convergence property and computational complexity of the proposed algorithm. Meanwhile, we analyze effects of the initial learning rate and step size on algorithm performance from both theoretical and simulation results. Simulation results show that the proposed algorithm improves the coverage by around 58% when compared with initial performance.