中国物理B ›› 2023, Vol. 32 ›› Issue (7): 78901-078901.doi: 10.1088/1674-1056/acb0c0

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Optimization of communication topology for persistent formation in case of communication faults

Guo-Qiang Wang(王国强)1,2,3, He Luo(罗贺)1,2,3,†, Xiao-Xuan Hu(胡笑旋)1,2,3, and Jian-Wei Tai(台建玮)1,2,3   

  1. 1 School of Management, Hefei University of Technology, Hefei 230009, China;
    2 Key Laboratory of Process Optimization&Intelligent Decision-making, Ministry of Education, Hefei 230009, China;
    3 Engineering Research Center for Intelligent Decision-making&Information Systems Technologies, Ministry of Education, Hefei 230009, China
  • 收稿日期:2022-09-24 修回日期:2022-12-05 接受日期:2023-01-06 出版日期:2023-06-15 发布日期:2023-06-28
  • 通讯作者: He Luo E-mail:luohe@hfut.edu.cn
  • 基金资助:
    Project supported by the National Natural Science Foundation of China (Grant Nos. 71871079, 72271076, 71971075, and 71671059) and the Anhui Provincial Natural Science Foundation, China (Grant No. 1808085MG213).

Optimization of communication topology for persistent formation in case of communication faults

Guo-Qiang Wang(王国强)1,2,3, He Luo(罗贺)1,2,3,†, Xiao-Xuan Hu(胡笑旋)1,2,3, and Jian-Wei Tai(台建玮)1,2,3   

  1. 1 School of Management, Hefei University of Technology, Hefei 230009, China;
    2 Key Laboratory of Process Optimization&Intelligent Decision-making, Ministry of Education, Hefei 230009, China;
    3 Engineering Research Center for Intelligent Decision-making&Information Systems Technologies, Ministry of Education, Hefei 230009, China
  • Received:2022-09-24 Revised:2022-12-05 Accepted:2023-01-06 Online:2023-06-15 Published:2023-06-28
  • Contact: He Luo E-mail:luohe@hfut.edu.cn
  • Supported by:
    Project supported by the National Natural Science Foundation of China (Grant Nos. 71871079, 72271076, 71971075, and 71671059) and the Anhui Provincial Natural Science Foundation, China (Grant No. 1808085MG213).

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摘要： To address the optimization problem of communication topology for persistent formation in the case of communication faults such as link interruption, transmitter failure, and receiver failure a two-stage model including fast reconstruction of communication topology and re-optimization of communication topology is constructed. Then, a fast reconstruction algorithm of communication topology for persistent formation (FRA-CT-PF), based on optimally rigid graph, arc addition operation, and path reversal operation, is proposed, which can quickly generate a feasible reconstructed communication topology after communication faults, thus ensuring the safety of the agents and maintaining the formation shape of persistent formation. Furthermore, a re-optimization algorithm of communication topology for persistent formation (ROA-CT-PF), based on agent position exchange, is proposed, which can further obtain a reoptimized communication topology to minimize the formation communication cost while still maintaining the formation shape of persistent formation. The time complexities of these two algorithms are also analyzed. Finally, the effectiveness of the above algorithms is verified by numerical experiments. Compared with existing algorithms, FRA-CT-PF can always obtain feasible reconstructed communication topology in much less time under all communication fault scenarios, and ROA-CT-PF can obtain a reoptimized communication topology to further reduce the formation communication cost in a shorter time.

关键词: persistent formation, communication topology, formation communication cost, communication fault

Abstract: To address the optimization problem of communication topology for persistent formation in the case of communication faults such as link interruption, transmitter failure, and receiver failure a two-stage model including fast reconstruction of communication topology and re-optimization of communication topology is constructed. Then, a fast reconstruction algorithm of communication topology for persistent formation (FRA-CT-PF), based on optimally rigid graph, arc addition operation, and path reversal operation, is proposed, which can quickly generate a feasible reconstructed communication topology after communication faults, thus ensuring the safety of the agents and maintaining the formation shape of persistent formation. Furthermore, a re-optimization algorithm of communication topology for persistent formation (ROA-CT-PF), based on agent position exchange, is proposed, which can further obtain a reoptimized communication topology to minimize the formation communication cost while still maintaining the formation shape of persistent formation. The time complexities of these two algorithms are also analyzed. Finally, the effectiveness of the above algorithms is verified by numerical experiments. Compared with existing algorithms, FRA-CT-PF can always obtain feasible reconstructed communication topology in much less time under all communication fault scenarios, and ROA-CT-PF can obtain a reoptimized communication topology to further reduce the formation communication cost in a shorter time.

Key words: persistent formation, communication topology, formation communication cost, communication fault

中图分类号:  (Computer science and technology)

  • 89.20.Ff
87.85.St (Robotics) 02.10.Ox (Combinatorics; graph theory) 64.60.aq (Networks)