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Communication-Efficient Asynchronous Consensus With Global Harmonization for Large-Scale UAV Swarms
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DOI：10.1109/TAES.2025.3630567.png)
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Abstract
En 中文
Unmanned aerial vehicle (UAV) swarms demonstrate transformative potential across diverse applications, including search and rescue, logistics distribution, and environmental monitoring, where market-based methods serve as effective approaches for rapid self-organizing task scheduling. Current market-based methods predominantly employ synchronous consensus mechanisms that necessitate synchronized communication, incurring wasteful waiting time, while existing asynchronous consensus approaches experience a sharp increase in communication overhead as the swarm size grows. To address these limitations, this article proposes a global harmony asynchronous consensus (GHAC) method, aiming to reduce the communication requirements for swarm consensus and enable large-scale UAV swarm scheduling under limited communication. First, by analyzing the communication demands for swarm consensus, a global harmony policy and paradigm are introduced to appropriately relax global consistency conditions. Second, building upon this harmonization framework, the GHAC method is proposed, encompassing three key components: communication protocols, conflict resolution rules, and information propagation mechanisms. Finally, simulation experiments validate the effectiveness of the proposed method. Monte Carlo results demonstrate that compared to the asynchronous consensus-based bundle algorithm, the GHAC method achieves maximum reductions of 70.16% in message count, 52.87% in average communication bandwidth, 58.52% in average peak bandwidth, and 63.12% in scheduling time.
Keywords:
Asynchronous consensus
distributed scheduling
efficient communication
large-scale optimization
unmanned aerial vehicle (UAV) swarms
Journal
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5.7
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686
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2.4W