Resilient Topology-Aware Coordination for Dynamic 3D UAV Networks under Node Failure
National Chung Cheng University（中正大学）；Advanced Institute of Manufacturing with High-tech Innovations (AIM-HI), National Chung Cheng University（中正大学先进制造与高技术创新研究院）
Chuan-Chi Lai
备注：
14 pages, 5 figures. Full research paper providing a resilience-aware RL framework for UAV networks under node failure. A preliminary version has been submitted to IEEE Journal for possible publication
Ensuring continuous service coverage under unexpected hardware failures is a fundamental challenge for 3D Aerial-Ground Integrated Networks. Although Multi-Agent Reinforcement Learning facilitates autonomous coordination, traditional architectures often lack resilience to sudden topology deformations. This paper proposes the Topology-Aware Graph MAPPO (TAG-MAPPO) framework to enhance system survivability through autonomous 3D spatial reconfiguration. Our framework integrates graph-based feature aggregation with a residual ego-state fusion mechanism to capture intricate inter-agent dependencies. To achieve structural robustness, we introduce a Random Observation Shuffling mechanism that fosters strong generalization to agent population fluctuations by breaking coordinate-index dependencies. Extensive simulations across heterogeneous environments, including high-speed mobility at 15 meters per second, demonstrate that TAG-MAPPO significantly outperforms Multi-Layer Perceptron baselines. Specifically, the framework reduces redundant handoffs by up to 50 percent while maintaining superior energy efficiency. Most notably, TAG-MAPPO exhibits exceptional self-healing capabilities, restoring over 90 percent of pre-failure coverage within 15 time steps. In dense urban scenarios, the framework achieves a post-failure fairness index surpassing its original four-UAV configuration by autonomously resolving service overlaps and interference. These findings confirm that topology-aware coordination is essential for resilient 6G aerial networks.
UAV Control and Communication Enabled Low-Altitude Economy: Challenges, Resilient Architecture and Co-design Strategies
School of Information Science and Technology, Harbin Institute of Technology, Shenzhen（哈尔滨工业大学深圳校区信息科学与技术学院）；Information System Technology and Design, Singapore University of Technology and Design（新加坡科技设计大学信息系统技术设计系）；ChinaTelecom Singapore Innovation Research Institute（中国电信新加坡创新研究院）；Information System Technology and Design Pillar, Singapore University of Technology and Design, Singapore（新加坡科技设计大学信息系统技术设计支柱）
