Scalable Distributed Organizational Structure and Self-Organization Mechanisms for Unmanned System Cluster
Haibo Liu, Lin Yang, Jing Shen, Xing Wang, Changting Shi, Jiayu Zhang · 2021
Reasonable control organizational structure can help an unmanned system cluster cooperate more effectively to complete tasks. Previous research of existing organizational structures has problems implementing the task in a natural environment, such as the cluster's lack of scalability. This paper proposes a three-layer scalable distributed organizational structure and dynamic self-organization mechanisms, which overcomes the lack of scalability and ensures that the cluster can still perform stably after the cluster size changes. The simulation results show that the organizational structure realizes information sharing and cross-layer control, which enhance the flexibility and stability of unmanned system clusters. Comparison results show that our achievements can make a good performance, contributing to this area of future research.