System Development & Application
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App. Res. of Comp. Printed Article
Vol. 43, 2026 No. 1
216-226

Distributed unmanned swarm self-organizing formation framework based on local information

Cui Zihan
Liu Wei
Xie Wanzhen
Hu Diwei
School of Computer Science & Engineering, Wuhan Institute of Technology, Wuhan 430205, China
DOI: 10.19734/j.issn.1001-3695.2025.06.0175

Abstract

This paper proposed a dual-layer adaptive formation framework to address low local information transmission efficiency, slow individual response, and poor global coordination in distributed unmanned swarms under dynamic and complex environments with communication constraints. The framework built a distributed network model combining a communication layer and a structural layer. In the communication layer, it applied multi-agent reinforcement learning with decentralized policy optimization based on local neighborhood information to achieve efficient information sharing and policy updating. In the structural layer, it introduced a distributed topology reconfiguration mechanism to enable flexible adjustment and reconstruction of formations in damage recovery and task-splitting scenarios. It embedded a dynamic disturbance handling mechanism between the two layers to achieve rapid adaptation and reconfiguration for node failures and task changes. Simulation results show that the proposed method significantly improves task success rates and convergence speed in anti-attack recovery and formation-splitting tasks across multiple network topologies. The framework demonstrates strong robustness and adaptability, providing an effective approach and theoretical support for efficient collaboration and stable formation of unmanned swarms under local information constraints.

Foundation Support

国家自然科学基金面上项目(52371373)
湖北省高等学校优秀中青年科技创新团队计划项目(T2023009)
武汉工程大学第十六届研究生教育创新基金资助项目(CX2024153)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.06.0175
Publish at: Application Research of Computers Printed Article, Vol. 43, 2026 No. 1
Section: System Development & Application
Pages: 216-226
Serial Number: 1001-3695(2026)01-026-0216-11

Publish History

[2025-09-11] Accepted Paper
[2026-01-05] Printed Article

Cite This Article

崔梓涵, 刘玮, 谢宛真, 等. 局部信息下的分布式无人集群自组织编队框架 [J]. 计算机应用研究, 2026, 43 (1): 216-226. (Cui Zihan, Liu Wei, Xie Wanzhen, et al. Distributed unmanned swarm self-organizing formation framework based on local information [J]. Application Research of Computers, 2026, 43 (1): 216-226. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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