A Fast Optimization Algorithm of Communication Topology for Two-dimensional Persistent Formation

Agent formation will use the communication links between them to interact with each other in the process of task execution, forming a communication topology. The optimization of communication topology for agent formation is of great significance to reduce the energy consumption of agents, extend the working time of the formation and improve the ability of formation to complete the task. Aiming at the communication topology optimization problem of two-dimensional persistent formation with leader constraint, a new fast optimization algorithm is proposed based on minimum cost arborescence, arc addition operation and path reverse operation. Finally, the simulation results further verify the effectiveness and efficiency of the algorithm. Compared with the average level of existing algorithm, the calculation time of the algorithm is reduced by 64.1%, 52.7%, 40.1%, 36.2% and 37.7%, respectively, when the numbers of agents are 25, 50, 75, 100 and 125.