Consensus-based Robust Clustering and Leader Election Algorithm for homogeneous UAV clusters
Tao Feng, Weiping Fan, Jiuyang Tang, Weixin Zeng · Journal of Physics Conference Series · 2019
In this study, a consensus-based robust clustering and leader election algorithm is presented for homogeneous Unmanned Aerial Vehicle(UAV) clusters. It can adaptively cluster and elect leader of each cluster of UAVs if any UAV can fail anytime and communication network changes dynamically. The algorithm is based on a distributed consensus algorithm, combining the sensing capabilities with the autonomous decision-making capabilities of the UAV to realize adaptive, scalable and robust clustering, leader election as well as group member management for UAV clusters.