Wireless Broadcast Gossip for Decentralized Drone Swarms: Success Probability, Contraction, and Optimal Aloha
This work addresses communication reliability and convergence speed for drone swarms, but it is incremental as it builds on existing broadcast gossip and Aloha models with specific derivations.
The paper tackled the problem of decentralized drone swarm communication over interference-limited wireless media by modeling drone locations and medium access, deriving closed-form success probabilities and contraction bounds, and optimizing access probabilities for faster convergence, with simulations confirming the predicted optimal operating point.
We study broadcast gossip for decentralized drone swarms over an interference-limited wireless medium. Modeling drone locations as a planar Poisson point process and medium access via slotted Aloha, we derive (i) a closed-form SIR success probability under Rayleigh fading, (ii) a mean-square contraction bound in which the consensus rate factorizes into an ideal mixing term and an explicit wireless thinning term, and (iii) a closed-form access probability that optimizes a sharp availability--reliability proxy. Simulations corroborate the predicted operating point by matching the fastest convergence region.