A Task Planning Method for UAV Swarm Dynamic Reconstruction Based on a Fourth-Order Motif

Abstract

The primary purpose of task allocation is to build each equipment platform and quickly complete integration planning at the actual combat speed to achieve efficient management of the entire task. In this process, higher requirements are put forward for dynamic, cooperative, and highly adaptive drone colony organization. In this paper, the scheduling problem of hybrid unmanned aerial vehicle (UAV) systems is studied under an uncertain environment. First, the system-capability-task organizational structure is defined and quantified, which lays a foundation for dynamic adjustment of the organizational structure in the future. Then, combined with the theory of flexible network and elastic network management, the model is calculated, and the linear transformation function and fuzzy theory are used to stratify and cluster the capability layers. On this basis, four motif structures are introduced for abnormal nodes in the process of dynamic adjustment, and a dynamic group reconstruction algorithm (DRA-M) is established. Finally, the time and communication load indexes are determined, and the alternative strategy is designed for the failure point. The performance of the classical scheduling algorithm is evaluated by benchmarking it under different conditions. The results show that the algorithm has a good dynamic adjustment ability in the event of a UAV swarm emergency, which is a bright light for the future study of highly adaptive UAV cluster organization.

An Efficient Path Planning Method for the Unmanned Aerial Vehicle in Highway Inspection Scenarios

“…Mathematical programming is often used for the rapid setting of drone flight parameters to match the dynamics of the considered scene. A dynamic group reconstruction algorithm on the basis of a fourth-order motif was proposed in [15] for UAV swarm dynamic reconstruction. A planning framework of the drone swarm missions was proposed in [16], where the mixed integer linear programming methods were adopted.…”