A Distributed Recursive Self-Repairing Algorithm of UAV Swarm with Optimal Path

In adversarial environments, unmanned aerial vehicle (UAV) swarms may encounter challenges such as member failures, battle damage, and strong electromagnetic interference. These adversities can lead to network system failures and physical configuration disruptions. To address individual failures caused by such scenarios, we propose a level-based distributed recursive self-repairing algorithm. First, a level generation and diffusion mechanism is introduced to establish a stable level distribution within the UAV swarm, enabling the evaluation of each UAV’s importance. Subsequently, based on this level distribution, a distributed recursive self-repairing strategy is designed to identify an optimal repair path for failed individuals. Finally, a series of simulations are conducted to validate the effectiveness of the proposed method.