Robust Decentralized Cooperative Resource Allocation for High-Dense Robotic Swarms by Reducing Control Signaling Impact

High throughput, low latency, and high reliability in proximity communications for swarm robotics can be achieved using decentralized cooperative resource allocation schemes. These schemes minimize the occurrence of half-duplex problems, reduce interference, allow a significant increase achievable density, but requires additional signaling overhead, which makes them potentially more prone to performance degradation under realistic operation conditions. conditions include both data, signaling, their interdependence evaluated jointly. The negative impact errors incorporating enhancement techniques realize full potential Particularly, this paper purpose, we evaluate effects hybrid automatic repeat request (HARQ), link adaptation by aggregation (LAAG) beam selection directional antennas schemes, compare with 3 rd Generation Partnership Project (3GPP) NR sidelink mode 2 (including signaling) same techniques. Additionally, comparison required number control signals between inter-UE coordination (IUC) introduce rebel sub-mode behavior our group scheduling scheme further improve at 99.99 percentile. simultaneous use all these considerably reduces thereby increases supported size compared 2.