Communication topology optimization for three-dimensional persistent formation with leader constraint

We address the communication topology optimization problem for a three-dimensional persistent formation with leader constraint to minimize the formation communication cost while maintaining its shape. We first analyze the formation shape, network topology, communication topology, and leader constraint of a three-dimensional persistent formation to establish the optimization model of the problem. We then propose an exact algorithm, which includes three kernel sub-algorithms, to solve the model, and theoretically prove its validity. A numerical example is shown to demonstrate the effectiveness of the algorithm.

Automated summary

This paper addresses the communication topology optimization problem for a three-dimensional persistent formation with leader constraint, aiming to minimize communication cost while maintaining its shape. An optimization model is established by analyzing the formation shape, network topology, communication topology, and leader constraint. An exact algorithm with three kernel sub-algorithms is proposed to solve the model, and its effectiveness is theoretically proven through a numerical example.