Distributed cooperative UAV loss detection and auto-replacement protocol with guaranteed properties

In this paper, we explore the UAV loss detection and auto-replacement scheme in a multi UAV system. The developed scheme is based on the concept of cooperative multi UAV control, where the cooperation is achieved by broadcasting heartbeats (HBs) and information fusion technology. We first propose the UAV loss detection method by checking the HB time. Subsequently, we present the UAV auto-replacement which is based on a contention protocol. Next, we propose the recovery algorithm for the lost UAV rejoining the UAV group. Finally, case studies are given to demonstrate the proposed scheme.