Resilient Formation Reconfiguration for Leader–Follower Multi-UAVs

Abstract

Among existing studies on formation reconfiguration for multiple unmanned aerial vehicles (multi-UAVs), the majority are conducted on the assumption that the swarm scale is stationary. In fact, because of emergencies, such as communication malfunctions, physical destruction, and mission alteration, the scale of the multi-UAVs can fluctuate. In these cases, the achievements of formation reconfiguration for fixed-scale multi-UAVs are no longer applicable. As such, in this article, the formation reconfiguration problem of leader–follower multi-UAVs is investigated with a variable swarm scale taken into consideration. First, a streamlined topological structure is designed on the basis of the parity of the vertex numbers. Then, three formation reconfiguration strategies corresponding to the scenarios covering leader disengagement, follower detachment, and new member additions are developed with the aim of reducing the frequency of connection changes. Moreover, in terms of the leader election link of the leader disengagement scenario, a knowledge-based performance assessment model for UAVs is constructed with the help of the hierarchical belief rule base (BRB). Finally, the proposed formation reconfiguration strategies for leader disengagement, new member addition, and follower disengagement are demonstrated through simulations. The connection retention rate (CRR) for swarm communication topology under the three formation reconfiguration strategies can reach 67%, 90%, and 100%, respectively.

Reconfiguration for UAV Formation: A Novel Method Based on Modified Artificial Bee Colony Algorithm

“…To this end, constraints (11)-( 13) are formulated in (17), and then the new problem can be given as: (10).…”

“…Furthermore, to reduce the movements required for formation reconfiguration, a weighted graph-matching-based node-mapping strategy was developed in [16]. Considering the fact that the scale of the multi-UAVs can fluctuate due to the mission alteration, a variable swarm scale multi-UAVs formation reconfiguration problem was investigated in [17].…”