Multi token circulation for Multi-UAV systems

In Multi Unmanned Air Vehicles (UAVs) systems, communication is an important problem. Flying Ad Hoc Network (FANET) structure is a solution for communication problem in Multi UAV systems. On the other hand, UAVs also need coordinate information of each other to perform the collective flight seamlessly. Token packet usage is one of the solution to sharing of coordinated information. In this method, the exchange of information between UAVs is performed by circulating a token packet in FANET. Existing methods to handle code distribution problems between the UAVs were taken and analyzed. However, location information, to be carried the exchange of information between the UAVs is one of the most important parameters. Location information, because it is much longer than the code delivery information takes more time. The literature on this subject with the studies examined only one coin circulated in UTA and was observed to ensure that a few number of UAVs communicate with a single coin. If a large number of UAVs are found in UTA, with the rapid movement of token, these UAVs learn the location information of each other. The aim of the study is to provide flight by learning location information of each other. However, as the number of UAVs are increasing, the location information sharing with a single token circulation in UTA will take longer time. In this case the flight will prevent the realization without any problem. In this study, different number of tokens are used with the different number of UAVs to observe average error that happens because of location information sharing.