A Spatio-Temporal Event Model for Unmanned System Swarm

As a typical distributed system, the unmanned system swarm realizes collaboration through information exchange between individuals. This paper proposes a spatio-temporal event model for unmanned swarms to provide support for stable operation and rapid response. First, based on the analysis of the collaboration problems in unmanned swarms, the collaboration relationship between unmanned cluster tasks is summarized according to graph theory. Then, we dame and describe the spatio-temporal events for unmanned swarms, and obtain 3 temporal primitives and 6 spatial primitives according to the temporal relationship and spatial topological relationship. Finally, design an event-driven architecture that uses event triggering, heartbeat mechanism, and active inquiry methods to ensure the unmanned cluster system's consistency and fault tolerance on the basis of satisfying the rapid response of the unmanned system swarm.