Distributed Connectivity Maintenance in Swarm of Drones During Post-Disaster Transportation Applications

Abstract

Considering post-disaster scenarios for intelligent traffic management and damage assessment where communication infrastructure may not be available, we advocate a swarm-of-drones mesh communication architecture that can sustain in-network connectivity among drones. The connectivity sustenance requirement stems from the fact that drones may move to various locations in response to service requests but they still need to cooperate for data collection and transmissions. To address this need, we propose a fully distributed connectivity maintenance heuristic which enables the swarm to quickly adapt its formation in response to the service requests. To select the moving drone(s) that would bring minimal overhead in terms of time and moving distance, the connected dominating set (CDS) concept from graph theory is utilized. Specifically, a variation of CDS, namely E-CDS, is introduced to address the needs of 3-D mobile swarm-of-drones. We then show that E-CDS is NP-Complete and propose a new distributed heuristic to solve it. Once the E-CDS is determined in advance, drones not part of this E-CDS set are picked for movement tasks. When the movement is to cause any disconnection with the rest of the swarm, other drones are also relocated to restore the connectivity. The proposed heuristics are implemented in ns-3 network simulator as part of the existing IEEE 802.11s mesh standard and the effectiveness is tested in terms of providing undisturbed services under different conditions. The results indicate that the proposed distributed heuristic almost matches the performance of a centralized solution and suits perfectly the needs of post-disaster traffic management.