AI 中文总结
针对结构化空域中无人机编队在匝道分支等情况时的问题，提出任务驱动发散 - 合并控制框架，包括建立空域模型、设计聚类机制和CAD - TDMA协议，仿真显示该框架能支持实时编队重构与可靠通信。
AI 中文摘要
先进空中交通（AAM）的快速发展使基于走廊的结构化空域成为高密度无人机交通的有前景的基础设施。编队飞行可通过抑制冲击波传播提高走廊容量，但刚性编队在匝道分支、合并和拥堵时效率低下或不安全。本文提出了一种用于结构化空域中无人机编队的任务驱动发散 - 合并控制框架。首先建立走廊 - 匝道分支结构化空域模型，接着设计快速任务驱动聚类机制，还设计了集群感知分布式时分多址（CAD - TDMA）协议。仿真结果表明，所提算法在严重物理重叠和拥堵下保持近乎零几何错误分类，CAD - TDMA在固定TDMA和WiFi MAC中实现了最佳延迟 - 损失 - 吞吐量权衡。所提编队控制框架能在走廊 - 匝道结构化空域中联合支持实时编队重构和可靠通信。
英文摘要
The rapid scaling of advanced air mobility (AAM) makes corridor-based structured airspace a promising infrastructure for high-density unmanned aerial vehicle (UAV) traffic. Formation flight can improve corridor capacity by suppressing shockwave propagation, but rigid formations become inefficient or unsafe during ramp branching, merging, and congestion. To address this problem, this paper proposes a task-driven diverge-merge control framework for UAV formations in structured airspace. At the beginning, a corridor-ramp branching structured airspace model is established to characterize the traffic dynamics and spatial constraints. Building upon this, a fast task-driven clustering mechanism integrates spatial connectivity, flight intent, and aerial task interactions to enable real-time diverge and merge for ramp branching and traffic reshaping. To make the diverge-merge reconfigurations executable at the media access control (MAC) layer of the formation, a cluster-aware distributed time division multiple access (CAD-TDMA) protocol is further designed. It protects intra-cluster control synchronization while conservatively reusing low-risk inter-cluster slots. Simulation results show that the proposed diverge-merge algorithm maintains near-zero geometrical misclassification under severe physical overlapping and congestion. With the formation diverge-merge traces, CAD-TDMA achieves the best delay--loss--throughput tradeoff over fixed TDMA and WiFi MAC. It shows that the proposed formation control framework can jointly support real-time formation reconfiguration and reliable communication in corridor-ramp structured airspace.
