A General Framework for Multi-UAV Communication Connectivity Maintenance Through Scalable Task Allocation

Despite of great potentials of decentralized multi-UAV systems in many practical applications, limited onboard communication capabilities can significantly impact team performance. Therefore, maintaining good communication connectivity between UAVs and base stations is essential for resilience and robustness of the system. This requirement is challenging due to various factors such as group size, task locations, and communication range. In this paper, we propose a general framework for maintaining connectivity in various situations through seamless degradation from continuous connectivity to periodic/intermittent connectivity. The framework relies on emergent behavior and is built upon our previous work on scalable task allocation to provide flexibility. Extensive simulation tests are conducted to verify its effectiveness.