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

doi:10.1088/1674-1056/acb0c0

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.

Keywords: persistent formation communication topology formation communication cost communication fault

Received: 24 September 2022
Revised: 05 December 2022
Accepted manuscript online: 06 January 2023

PACS:	89.20.Ff	(Computer science and technology)
	87.85.St	(Robotics)
	02.10.Ox	(Combinatorics; graph theory)
	64.60.aq	(Networks)

Fund: 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).

Corresponding Authors: He Luo
E-mail: luohe@hfut.edu.cn

Cite this article:

Guo-Qiang Wang(王国强), He Luo(罗贺), Xiao-Xuan Hu(胡笑旋), and Jian-Wei Tai(台建玮) Optimization of communication topology for persistent formation in case of communication faults 2023 Chin. Phys. B 32 078901

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[1]	Generation of optimal persistent formations for heterogeneous multi-agent systems with a leader constraint Guo-Qiang Wang(王国强), He Luo(罗贺), Xiao-Xuan Hu(胡笑旋). Chin. Phys. B, 2018, 27(2): 028901.
[2]	Exponential networked synchronization of master-slave chaotic systems with time-varying communication topologies Yang Dong-Sheng(杨东升), Liu Zhen-Wei(刘振伟), Zhao Yan(赵琰), and Liu Zhao-Bing(刘兆冰) . Chin. Phys. B, 2012, 21(4): 040503.

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

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