Abstract
The unmanned aerial vehicle (UAV) swarm systems rely on wireless communications for data sharing and coordination. Recently, both the lazy and eager consensus-based algorithms were proposed to enable swarm-wide data sharing. However, our analysis and experiments show that the performance of both algorithms may degrade drastically in dynamic and heterogeneous network environments. The reason is attributed to the fixed transmitter selection strategies adopted in the algorithms. Therefore, in this paper, we propose a novel adaptive consensus data sharing algorithm by adopting single best transmitter selection to strike a beneficial tradeoff between convergence rate and payload cost. Then, we propose and implement a UAV swarm simulation platform to facilitate simulations in dynamic and heterogeneous environment. Numerical results reveal that the proposed adaptive consensus-based data sharing algorithm performs well across different network scenarios in terms of convergence rate and payload cost.
Highlights
The unmanned aerial vehicle (UAV) is emerging as a disruptive technology in many areas of science, technology, and society, including surveillance, transportation and combat systems [1]
Faced with the complex tasks that are difficult to accomplish by a single UAV, a UAV swarm may greatly improve the efficiency of task execution
The detail implementation of distributed transmitter selection process is shown in line 12 to 25 of Alg. 3, where a single UAV is selected to respond to a request packet in each communication round
Summary
The unmanned aerial vehicle (UAV) is emerging as a disruptive technology in many areas of science, technology, and society, including surveillance, transportation and combat systems [1]. The realistic wireless communication environments experiencing path-loss, fading, shadowing and interference may significantly affect the achievable throughput for payload transmission for UAV swarm coordination [8]. Against this background, this paper is devoted to spectrum-efficient, reliable and timely data sharing algorithm design for UAV swarms. In order to compare and validate the performance of different data-sharing algorithms, we propose and implement a simulation platform for UAV swarms.
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