Unmanned aerial vehicle (UAV) swarms is an emerging technology that will significantly expand the application areas and open up new possibilities for UAVs, while also presenting new requirements for the robustness and reliability of the UAV swarming system. However, its complex and dynamic characteristics make it extremely challenging and uncertain to model such a system. In this study, to reach a full understanding of the swarming system, a modeling framework based on complex network theory is presented. First, the scope of work is identified from the point of view of control algorithms considering the dynamics and research novelty of the development of UAV swarming control strategy and three control structures consisting of three interdependent network layers are proposed. Second, three algorithms that systematically build the modeling framework considering all characteristics of the system are also developed. Finally, some network measurements are introduced by adjusting the fundamental ones into the UAV swarming system. The proposed framework is applied to a case study to illustrate the visualization models and estimate the statistical characteristics of the proposed networks with static and dynamic topology analysis. Furthermore, a simple demonstration of the robustness evaluation of the network is also presented. The networks obtained from this framework can be used to further analyze the robustness or reliability of a UAV swarming system in a high-confrontation battlefield environment the effect of cascading failure in ad-hoc network on system.
Modeling and Topological Properties of a V2I Sub Network in VANET Based on a Complex Network