Reconfiguration Control and Cost Analysis of UAV Cluster

Cost measurement for UAV cluster configuration reconstruction is difficult to present because of process iteration; therefore, we analyzed cluster topology stability and provided a cost measurement formula. In order to develop a cluster reconstruction method, this study investigates the theory and simulation of cluster reconstruction control strategies through model simplification, theoretical derivation, and case analysis. First, we analyzed the transformation capability of different configurations in a multi‐UAV system. Then, we modeled group behavior based on behavioral rules and evaluated the reconfiguration cost using reconfiguration topology. Finally, we conducted simulation experiments considering cluster parameters and configuration characteristics to obtain the variation curves of reconstruction cost over time and the trajectory diagrams of UAVs under different configurations. The results demonstrate that the proposed method is robust and effective compared to other reconstruction approaches.