🤖 AI Summary
This work addresses the trade-off between communication reliability and convergence speed in decentralized drone swarms achieving consensus via gossip protocols in interference-limited wireless environments. Focusing on slotted Aloha-based wireless gossip, the authors model drone locations as a planar Poisson point process and derive a closed-form signal-to-interference ratio (SIR) success probability under Rayleigh fading channels. By decomposing the dynamics into an ideal mixing term and a wireless sparsity term, they establish a mean-square contraction bound. Building on this analysis, they propose a closed-form optimal transmission probability that jointly optimizes availability and reliability. The theoretical framework integrates stochastic geometry, mean-field approximation, and convex optimization, with the predicted optimal operating point aligning closely with the fastest convergence region observed in simulations, thereby validating the approach.
📝 Abstract
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.