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SCIENCE CHINA Information Sciences, Volume 64 , Issue 4 : 140305(2021) https://doi.org/10.1007/s11432-020-3012-3

Leveraging partially overlapping channels for intra- and inter-coalition communication in cooperative UAV swarms

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  • ReceivedMar 31, 2020
  • AcceptedJul 28, 2020
  • PublishedMar 5, 2021

Abstract


References

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  • Figure 1

    (Color online) Illustration of a search task.

  • Figure 2

    (Color online) The illustration of executing the task in time domain.

  • Figure 3

    (Color online) An illustration of the proposed algorithm.

  •   

    Algorithm 1 Multi-stage SAP-based learning algorithm

    At the beginning of stage $t,1~\le~t\le~T$, UAVs move to the pre-defined position. The initialization and the updating process will be executed in every stage. Define the final strategy of stage ${t~\left(~{1~\le~t~\le~T~-~1}~\right)}$, as ${{\boldsymbol{a}}^t}~=~\{~{a_1^t,~\ldots~,a_H^t}~\}$.

    Initialization:Set iteration $k=0$. The coalition heads obtain the knowledge of the current environment. Coalition head $h,\forall~h~\in~{\cal~H}$, sets the channel selection probability as $p_h^a\left(~0~\right)~=~\frac{1}{{\left|~{\cal~A}~\right|}},\forall~a~\in~{\cal~A}$. If it is the first stage, i.e., $t=1$, it selects a channel $a_h(0)$ randomly. Otherwise, it maintains its current channel, i.e., ${a_h}\left(~0~\right)~=~a_h^{t-1}$.

    Updating: Loop $k~=~1,2,~\ldots~,K_{{{\mathrm{max}}}}$ (the maximum iteration step).

    1. One coalition head $h$ is selected randomly to update while others' strategies remain unchanged, i.e., ${{\boldsymbol{a}}_{~-~h}}\left(~k~\right)~=~{{\boldsymbol{a}}_{~-~h}}\left(~{k-1}~\right)$.2.The updater $h$ refreshes the selection probability according to the following rule:

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