Routing protocols help in transmitting the sensed data from UAVs monitoring the targets (called target UAVs) to the BS. However, the highly dynamic nature of an autonomous, decentralized UAV network leads to frequent route breaks or traffic disruptions. Traditional routing schemes cannot quickly adapt to dynamic UAV networks and/or incur large control overhead and delays. To establish stable, high-quality routes from target UAVs to the BS, we design a hybrid reactive routing scheme called pipe routing that is mobility, congestion, and energy-aware. The pipe routing scheme discovers routes on-demand and proactively switches to alternate high-quality routes within a limited region around the active routes (called the pipe) when needed, reducing the number of route breaks and increasing data throughput. We then design a novel topology control-based pipe routing scheme to maintain robust connectivity in the pipe region around the active routes, leading to improved route stability and increased throughput with minimal impact on the coverage performance of the UAV network.

翻译：路由协议有助于将监测目标的无人机（称为目标无人机）感知到的数据传输到基站（BS）。然而，自主、去中心化的无人机网络的高度动态特性会导致频繁的路由中断或流量中断。传统的路由方案无法快速适应动态无人机网络，并且/或者会产生较大的控制开销和延迟。为了建立从目标无人机到基站的稳定、高质量路由，我们设计了一种称为管道路由的混合反应式路由方案，该方案具备移动性、拥塞和能量感知能力。管道路由方案按需发现路由，并在需要时主动切换到活动路由周围有限区域（称为管道）内的备用高质量路由，从而减少路由中断次数并提高数据吞吐量。随后，我们设计了一种新颖的基于拓扑控制的管道路由方案，以在活动路由周围的管道区域内维持鲁棒的连接性，从而在最小化对无人机网络覆盖性能影响的前提下，提升路由稳定性并增加吞吐量。