A Novel Distributed Situation Awareness Consensus Approach for UAV Swarm Systems

This paper develops a novel approach to addressing the distributed situation awareness (SA) consensus problem for unmanned aerial vehicle (UAV) swarm systems. SA consensus is an important condition for gaining decision-making superiority. However, because of the complexity and antagonism of the mission environment, the widely employed centralized architectures are unable to reach a distributed consensus. We address this urgent issue by proposing a systematic distributed SA consensus scheme, including a distributed optimization-based consensus reaching model, dual-loop decision-making framework, and novel coordination algorithm. Necessarily, we conduct convergence analysis on the proposed algorithm. The effectiveness and superiority of the proposed method are verified by comparative simulations.