Intrinsic Resilience Measurement and Analysis for UAV Swarm Systems

The rapid development of the low-altitude economy has propelled research focus towards technology pertaining to Unmanned Aerial Vehicle (UAV) swarms. The operational environment of UAV swarms is fraught with uncertainties and risks, posing challenges to their reliable functioning and mission success rate. UAV swarms possess the resilient property due to its self-organization and self-adaptation capabilities. Resilience design and enhancement serve as an effective approach for complex network systems like UAV swarms to effectively tackle unknown risks. The foundation of resilience design and improvement lies in the utilization of scientific and rational resilience analysis methods. The current three types of system resilience analysis methods effectively address the issue of describing resilience phenomena, but they have not delved into the level of understanding the laws governing resilience in UAV swarms. In this paper, the concept of intrinsic resilience (IR) is proposed for the first time to demonstrate the inherent resilient performance of the UAV swarm itself. The IR parameters including flexibility, rebounding velocity and restoration rate are provided and a 7-tuple metric framework is established. A UAV delivery system is utilized as an example to explain and illustrate the proposed IR analysis method.