UAV Chain Network Creation in Cluttered Environments with Flocking Rules and Routing Data

Abstract

This paper introduces a novel distributed approach for forming UAV-based multi-hop relay networks by adapting traditional flocking models to create relay chains between remote points. Our method modifies the standard flocking paradigm by incorporating dynamic agent roles, allowing UAVs to self-organize based solely on local state and neighbor information, and integrates networking information such as routing decisions directly into mobility control. A side contribution is the introduction of a Line-of-Sight (LOS) conservation force, which mitigates communication failures due to obstacles and is easily adaptable to the flocking model. The proposed algorithm is evaluated using a joint robotics and network co-simulator that combines realistic multi-rotor physics with ns-3-based network simulations. Simulation results across diverse environments and varying mission complexities demonstrate that our approach effectively maintains connectivity, enhances Quality of Service (QoS), and scales robustly, thereby bridging the gap between robotic control and aerial wireless network design.