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.

翻译：我们研究了在受干扰限制的无线介质中，去中心化无人机集群的广播八卦协议。将无人机位置建模为平面泊松点过程，并采用时隙Aloha进行介质接入，我们推导出：(i) 瑞利衰落条件下SIR成功概率的闭式表达式；(ii) 均方收缩界，其中共识速率因子分解为理想混合项和显式无线稀疏项；(iii) 优化尖锐可用性-可靠性代理指标的闭式接入概率。仿真实验通过匹配最快收敛区域，验证了所预测的工作点。