Structure Design for UAV Swarm Cooperative Control Based on Graph Theory

Abstract

In view of the deficiencies of traditional methods to meet the requirement of real-time performance, a Graph Theory based method is proposed for UAV cooperative control structure establishment. A storage matrix is first generated from the communication network structure. Then the spanning tree algorithm is used to formulate the control relationship spanning tree of UAV swarm. A control relationship reconstruction strategy is further investigated to deal with abnormal situations where some UAV individuals in the swarm are damaged. Numerical simulation has been conducted, which validates the consistency and effectiveness of the proposed method.