Resilient Formation Reconfiguration for Leader–Follower Multi-UAVs

Among existing studies on formation reconfiguration for multiple unmanned aerial vehicles (multi-UAVs), the majority are conducted assumption that swarm scale is stationary. In fact, because of emergencies, such as communication malfunctions, physical destruction, and mission alteration, multi-UAVs can fluctuate. these cases, achievements fixed-scale no longer applicable. As such, in this article, problem leader–follower investigated with a variable taken into consideration. First, streamlined topological structure designed basis parity vertex numbers. Then, three strategies corresponding to scenarios covering leader disengagement, follower detachment, new member additions developed aim reducing frequency connection changes. Moreover, terms election link disengagement scenario, knowledge-based performance assessment model UAVs constructed help hierarchical belief rule base (BRB). Finally, proposed addition, demonstrated through simulations. The retention rate (CRR) topology under reach 67%, 90%, 100%, respectively.