Incidence Control Units Selection Scheme to Enhance the Stability of Multiple UAVs Network

The autonomous cooperation of multiple unmanned aerial vehicles (UAVs) will effectively improve the efficiency of task completion and meet the needs of task diversity. The information interaction and mutual control between UAVs restrict the autonomy of multi-UAVs. The number and selection of control units not only affect the equipment cost of the network but also affect the stability of the network. Link information, such as bandwidth resources and the computing power of the control unit, also affect the resource adjustment of other related links. In order to improve the efficiency and stability of UAVs computing first network, considering the number of control units and link information, this article creatively puts forward the concepts of incidence control, sign incidence control, and incidence complete control. The minimum incidence control number and incidence complete control number of general graphs are calculated. When the network topology of UAV meets the requirements of path, circle, and star, the exact value of the sign incidence control number is calculated. When the network topology of UAV meets the requirements of the complete graph, complete bipartite graph, and wheel graph, the bounds of the sign incidence control number are calculated. The number of control units of the UAV network is further determined.