A Grey Wolf optimizer-Based Topology Shaping Method for UAV Swarm

Topology shaping is crucial for UAV swarms applications. The optimization of topology shaping generally involves two aspects, i.e. the determination of optimal mapping relationship from the initial topology to the target topology and the optimization of topology shaping position, which are both directly related to the global energy consumption of the UAV swarm. Therefore, joint optimization of the mapping relationship and the topology shaping position is necessary to be performed in the topology shaping process of the UAV swarm. In this paper, a joint optimization model of topology shaping is proposed and the Grey Wolf optimizer algorithm is employed to solve the model. Simulation results show that the proposed method can achieve topology shaping and exhibits better convergence of the algorithm while maintaining the same minimum global energy consumption.