Bio-inspired Integrated Networking and Control for Large-Scale Swarm: A Hierarchical Co-design
Huan Lin, Dakai Liu, Lianghui Ding, Lin Wang, and Feng Yang

TL;DR
This paper introduces a bio-inspired hierarchical scheme for large UAV swarms that reduces communication overhead and enhances formation control and obstacle avoidance through a two-layer structure and hybrid control algorithms.
Contribution
It presents a novel integrated networking and control scheme inspired by biological systems, enabling efficient management of thousands of UAVs with reduced overhead.
Findings
Significant reduction in communication overhead.
High maneuverability of swarm formations.
Effective obstacle avoidance capabilities.
Abstract
Unmanned aerial vehicle (UAV) swarms encounter the challenge of high overhead due to both network management and formation control requirements. In this paper, we propose a Bio-inspired Integrated Networking and Control (BINC) scheme, enabling efficient formation management for swarms comprising thousands of UAVs. The scheme forms a two-layer hierarchical structure, where network clusters and formations share the same groups so that cross-cluster control is eliminated. For networking, we design a fused routing message together with control information to reduce overhead, and limit clusters' size to local two-hop topologies for fast command transmission. For controlling, we develop a hybrid bio-inspired control approach, including a pigeon-like leader-follower algorithm within formations under the consideration of cluster topology maintenance, and a starling-like algorithm among…
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Taxonomy
TopicsDistributed Control Multi-Agent Systems · UAV Applications and Optimization · Robotic Path Planning Algorithms
