A Novel Scheme for Dynamic Task Collaboration Among Large-Scale UAV Swarms in the Era of Low-Altitude Economy

This paper mainly studies the dynamic task collaboration scheme of large-scale unmanned aerial vehicle (UAV) swarms based on the consensus theory of multi-agent networks. Firstly, to enhance the adaptability of the UAV swarms in complex environments, an asynchronous evolving two-layer network is proposed for communication among these UAV nodes. Secondly, a novel type of dynamic task collaboration control protocol with energy constraints is designed and applied to the UAV swarms, which has the advantages of high efficiency and low cost. Thirdly, in order to enable the UAV swarms to achieve multiple task collaboration goals, a hierarchical multi-task collaboration strategy is designed. Furthermore, the dynamic task collaboration model of the UAV swarms is analyzed by using Lyapunov stability and matrix measure theories, and some sufficient conditions for achieving hierarchical multi-task collaboration are obtained. Finally, through some simulation experiments and comparative analysis with related literature, the validity and superiority of the proposed theories are verified.