Abstract

Multiple unmanned aerial vehicles (UAVs) are applicable to numerous civil and military scenarios, such as rescue, surveillance, inspection, mapping, and so on. In fact, there exists lifetime and distance restrictions in UAVs due to the limited energy and signal attenuation. Therefore, a distributed algorithm is proposed which makes use of cooperative communication to ensure reliable information transmission of UAVs in communication-limited environments. First, a system model is developed by jointly considering the achievable rate, delay and energy consumption, which constitute the utility function of UAVs. Then, in order to study the interactions among UAVs, we present a game framework which allows the UAVs making decision under the global topology. Via a hybrid of the pure-strategy and the mixed-strategy Nash network formation algorithm, a multi-hop tree structure network that connects the UAVs and the ground station is established. Based on our numerical simulation, it demonstrates that the UAVs can adapt to the changing environment. Finally, some comparisons are provided to illustrate the efficiency of the proposed algorithm.

中文翻译：

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无人机之间的纳什网络形成

摘要

多种无人机（UAV）适用于多种民用和军事场景，例如救援，监视，检查，制图等。实际上，由于有限的能量和信号衰减，UAV存在寿命和距离限制。因此，提出了一种分布式算法，该算法利用协作通信来确保在通信受限的环境中无人机的可靠信息传输。首先，通过共同考虑可达到的速率，时延和能耗来开发系统模型，这些模型构成了无人机的效用函数。然后，为了研究无人机之间的相互作用，我们提出了一个游戏框架，该框架允许无人机在全局拓扑下做出决策。通过纯策略和混合策略Nash网络形成算法的混合，建立了连接无人机和地面站的多跳树结构网络。根据我们的数值模拟，它表明无人机可以适应不断变化的环境。最后，提供一些比较以说明所提出算法的效率。