Communication Topology Reconstruction for a Three-Dimensional Persistent Formation With Fault Constraint
Guoqiang Wang, He Luo, Xiaoxuan Hu · IEEE Transactions on Network Science and Engineering · 2024
The aim of communication topology reconstruction of a persistent formation with fault constraint is to reconstruct the communication topology in a timely manner in the case of a fault to ensure that the agents continue to maintain the formation shape and to minimize the communication energy consumption among agents. The formation communication cost of solutions obtained by existing algorithms is high, and their calculation time is long. To address this problem, a novel communication topology reconstruction algorithm for persistent formations in three-dimensional space is proposed based on arc addition and path reversal operations. Then, the correctness of the algorithm is proved theoretically, and its scalability for two-dimensional space is also analyzed. Finally, its effectiveness is verified through numerical experiments. Compared with existing algorithms, its advantages regarding solution quality and calculation time increase with the increase in the number of agents and the proportion of link loss in the faults.