Cloud-Based Mathematical Models for Self-organizing Swarms of UAVs: Design and Analysis

Unmanned Aerial Vehicle (UAV) swarms have gained significant attention for their potential applications in various fields. The effective coordination and control of UAV swarms require the development of robust mathematical models that can capture their complex dynamics. The paper introduces mathematical models and relevant paradigms based on the design and analysis of self-organizing swarms of UAVs. The logical and technological construction of the model relies on the theorems developed by authors for obtaining full information exchange during the swarm quasi-random walk. The suggested rotor-router model interprets the discrete-time walk accompanied by the deterministic evolution of configurations of rotors randomly placed on the vertices of the swarm graph. The recommended optimal and fault-tolerant gossip/broadcast schemes support the resilience of swarm to internal failures and external attacks, and cryptographic protocols approve the security. The proposed cloud network topology serves as the implementation framework for the model, encompassing various connectivity options to ensure the expected behavior of the UAV swarms.