Abstract
This paper focuses on UAV swarm with some faulty individuals that usually cause abnormal interactive information or communication link failure, and can propagate over the swarm network. A two-layer and multipartite structure of the swarm and a cascading failure model are established, based on which a fault recoverability condition is established based on a newly proposed concept namely “largest recoverable component”. The new condition reveals the capability of the swarm to maintain connectivity and consistency between followers and leaders after removing these faulty individuals. Simulation results show the efficiency of the proposed methods.
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