Metric based communication methodology in BST network for MAV swarm

Communication in Micro Air Vehicles (MAV) swarm flying is challenging and critical for functional integrity of the swarm network. MAVs are deployed in groups to realise useful applications from MAV. Such mode of deployment of MAVs in-group demands dedicated and well defined communication method, protocol, simplified control and data paths along with the redundancy management to mitigate the failures. On the fly communication failures or complete system failure is addressed by dynamic reconfiguration of fellow MAVs to restructure the network as per Binary Search Tree network (BSTN). BST based network for swarm flying enables simplified and structured network with ordered, dynamic and unique data paths. Reconfiguration of MAV nodes in the BSTN is critical for continued swarm and hence completion of intended function. The paper presents the BST based network for MAVs, communication protocol, metrics for configuration, failure scenarios and redundancy management.