[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"detail-sidebar-cat-0-en-105":3,"doc-seo-457071-105":59,"doc-detail-457071-en":130},{"code":4,"msg":5,"data":6},0,"success",[7,13,18,23,28,33,38,43,48,51,55],{"id":8,"doc_module":4,"doc_module_name":9,"category_name":10,"show_sort_weight":11,"slug":12},1,"Document","Story & Novel",90,"story-novel",{"id":14,"doc_module":4,"doc_module_name":9,"category_name":15,"show_sort_weight":16,"slug":17},2,"Literature",80,"literature",{"id":19,"doc_module":4,"doc_module_name":9,"category_name":20,"show_sort_weight":21,"slug":22},4,"Exam",70,"exam",{"id":24,"doc_module":4,"doc_module_name":9,"category_name":25,"show_sort_weight":26,"slug":27},5,"Comic",60,"comic",{"id":29,"doc_module":4,"doc_module_name":9,"category_name":30,"show_sort_weight":31,"slug":32},6,"Technology",50,"technology",{"id":34,"doc_module":4,"doc_module_name":9,"category_name":35,"show_sort_weight":36,"slug":37},7,"Healthcare",40,"healthcare",{"id":39,"doc_module":4,"doc_module_name":9,"category_name":40,"show_sort_weight":41,"slug":42},8,"Research & Report",30,"research-report",{"id":44,"doc_module":4,"doc_module_name":9,"category_name":45,"show_sort_weight":46,"slug":47},9,"Religion & Spirituality",20,"religion-spirituality",{"id":46,"doc_module":4,"doc_module_name":9,"category_name":49,"show_sort_weight":46,"slug":50},"World Cup","world-cup",{"id":52,"doc_module":4,"doc_module_name":9,"category_name":53,"show_sort_weight":52,"slug":54},10,"Lifestyle","lifestyle",{"id":56,"doc_module":4,"doc_module_name":9,"category_name":57,"show_sort_weight":24,"slug":58},19,"General","general",{"code":4,"msg":60,"data":61},"ok",{"site_id":62,"language":63,"slug":64,"title":65,"keywords":66,"description":67,"schema_data":68,"social_meta":123,"head_meta":125,"extra_data":127,"updated_unix":129},105,"en","dynamic-time-slot-allocation-method-for-deterministic-communication-in-uav-formation","Dynamic time slot allocation method for deterministic communication in UAV formation","","Dynamic UAV formations enable latency-sensitive missions like situational awareness and emergency command, which demand deterministic end-to-end data transmission. Because UAV networking changes dynamically, conventional static TDMA cannot reliably meet determinism under node access variability. A hybrid CSMA/TDMA dynamic resource allocation scheme is proposed to support flexible service adaptation. RB-CCA addresses collision-induced access delay uncertainty, while a Markov-chain analysis quantifies collision and access success probabilities. A minimum time-sensitive delay model and DySTMap Ivy Algorithm (DIvyA) compute minimal delay and slot length, verified via Exata simulations and FPGA-implemented experiments.",{"@graph":69,"@context":122},[70,84,105],{"@type":71,"itemListElement":72},"BreadcrumbList",[73,77,79,82],{"item":74,"name":75,"@type":76,"position":8},"https://docshare.wps.com","Home","ListItem",{"item":78,"name":9,"@type":76,"position":14},"https://docshare.wps.com/document/",{"item":80,"name":30,"@type":76,"position":81},"https://docshare.wps.com/document/technology/",3,{"item":83,"name":65,"@type":76,"position":19},"https://docshare.wps.com/document/dynamic-time-slot-allocation-method-for-deterministic-communication-in-uav-formation/457071/",{"url":83,"name":65,"@type":85,"image":86,"author":91,"headline":65,"publisher":94,"fileFormat":97,"inLanguage":63,"description":67,"dateModified":98,"datePublished":99,"encodingFormat":97,"isAccessibleForFree":100,"interactionStatistic":101},"DigitalDocument",{"url":87,"@type":88,"width":89,"height":90},"https://docshare.wps.com/thumbnails/dynamic-time-slot-allocation-method-for-deterministic-communication-in-uav-formation/457071.png","ImageObject",300,407,{"name":92,"@type":93},"Kyle","Person",{"url":74,"name":95,"@type":96},"DocShare","Organization","application/pdf","2026-10-22","2026-09-30",true,{"@type":102,"interactionType":103,"userInteractionCount":39},"InteractionCounter",{"@type":104},"ViewAction",{"@type":106,"mainEntity":107},"FAQPage",[108,114,118],{"name":109,"@type":110,"acceptedAnswer":111},"Why does static TDMA fail to provide deterministic communication in UAV formations?","Question",{"text":112,"@type":113},"UAV formations have dynamic networking and service demands, so fixed slot assignments cannot adapt to time-sensitive changes. This can lead to insufficient or wasted slots and increased end-to-end delay and jitter.","Answer",{"name":115,"@type":110,"acceptedAnswer":116},"What is RB-CCA used for in the proposed scheme?",{"text":117,"@type":113},"RB-CCA (Random Backoff with Centralized Collision Avoidance) targets uncertain access delay caused by node collisions. It supports collision avoidance and enables analysis of collision and access success probabilities using a Markov chain.",{"name":119,"@type":110,"acceptedAnswer":120},"How are minimum service delay and slot length obtained?",{"text":121,"@type":113},"The method defines a minimum time-sensitive service delay model and applies DySTMap Ivy Algorithm (DIvyA) to compute the minimum delay and the required slot length for nodes.","https://schema.org",{"og:url":83,"og:type":124,"og:title":65,"og:site_name":95,"og:description":67},"article",{"robots":126,"canonical":83},"index,follow",{"doc_id":128,"site_id":62},457071,1791385631,{"code":4,"msg":5,"data":131},{"doc_id":128,"user_id":132,"nickname":92,"user_avatar":133,"doc_module":4,"category_id":29,"category_name":30,"doc_title":65,"doc_description":67,"doc_content":134,"file_id":135,"file_url":136,"file_type":137,"file_size":138,"view_count":39,"is_deleted":4,"is_public":8,"is_downloadable":8,"audit_status":8,"page_count":139,"language":140,"language_code":63,"site_id":62,"html_lang":63,"table_of_contents":141,"faqs":142,"seo_title":143,"seo_description":67,"update_tm":144,"read_time":145},3985741905716,"https://ap-avatar.wpscdn.com/davatar_994ba38a5ba835b3df7d355c54d3ed8d","[www. nature.com/scientificreports](www. nature.com/scientificreports)  \nOPEN  \nDynamic time slot allocation method for deterministic communication in UAV formation  \nJunfang Xiao1􀀍, Jianming Huang2, Qin Chen3,4, Chuan Xu3,4 & Guofeng Zhao3,4  \nRecently, UAV formations have been designed to support latency-sensitive tasks, such as situational awareness and emergency command, which require deterministic end-to-end data transmission. However, duetothe dynamic networking of UAV formation, the traditional static TDMA method cannot meet the deterministic transmission requirements. Consequently, to satisfy the deterministic transmission of time-sensitive services, a hybrid CSMA/TDMA resource dynamic allocation scheme is proposed, which not only supports dynamic node access but also flexibly adapts to dynamic changes in services. Firstly, to tackle the issue of uncertain access delay caused by node collisions, a Random Backoff with Centralized Collision Avoidance (RB-CCA) algorithm is proposed; a Markov chain is proposed to model the entire state transition process, to analyze the collision probability and access success probability of existing and unconnected nodes. Secondly, we establish a minimum timesensitive service delay model, and design a DySTMap Ivy Algorithm (DIvyA) to obtain the minimum delay and required slot length for nodes. The simulation results in Exata demonstrate that RB-CCA can reduce idle listening by 30% compared to existing random backoff algorithms; during the service transmission phase, the proposed scheme reduces end-to-end delay by 20% compared to existing slot allocation schemes. Finally, the proposed solution is implemented on an FPGA platform, and semiphysical scenario experimental results show that the end-to-end delay is below 5ms, with jitter less than 0.12ms.  \nKeywords UAV formation, Deterministic communication, CSMA/TDMA, RB-CCA, Dynamic slot allocation  \nWith the advancement of Unmanned Aerial Vehicle (UAV) technology, emerging applications such as early warning surveillance, remote command and control, and wide-area coverage have raised higher demandson the real-time performance and determinism of data transmission. However, in UAV formation networks, to ensure the flexibility of node access, the Carrier Sense Multiple Access with Collision Avoidance (CSMA/ CA) mechanism is typically used for channel contention. Due to the limitations of wireless channel resources, simultaneous resource competition among multiple UAVs can lead to collisions, resulting in network delaysand congestion. Moreover, UAV formations always be deployed with Time Division Multiple Access (TDMA) with fixed resource allocation, which can lead to insufficient or wasted time slots for dynamic changes in service demands. These problems can cause end-to-end delays ranging from 50 to 500 ms, with jitter varying from tens to hundreds of milliseconds1. Therefore, adopting dynamic changes in UAV formation, reducing collisions and improving resource allocation efficiency are the key issue to guarantee deterministic communication in UAV formations.  \nFirstly, carrier sense multiple access (CSMA) extended protocols based on Distributed Coordination Function (DCF) were proposed to improve the flexibility of node access through adaptive channel listening and random back-off mechanisms2. The traditional binary exponential back-off (BEB) algorithm avoids collisions by exponentially increasing the contention window sizes of different nodes3–5. However, this approach leads to an increase in idle listening by nodes, making it impossible to determine the node access delay. Moreover, when the number of nodes in the network becomes large, packet collisions will be more severe, resulting in increased access delay and overhead for CSMA contention, as well as significantly reduced channel utilization. References6–10 have proposed a large number of methods to reduce packet collisions and access overhead. In  \n1School of Electronic Information Engine","cbCaigeVKFm5GjHc","https://ap.wps.com/l/cbCaigeVKFm5GjHc","pdf",3635660,17,"English","# Dynamic time slot allocation method for deterministic communication in UAV formation\n## Motivation and problem statement\n## Related CSMA/TDMA access mechanisms\n## Proposed hybrid CSMA/TDMA scheme and algorithms","[{\"question\":\"Why does static TDMA fail to provide deterministic communication in UAV formations?\",\"answer\":\"UAV formations have dynamic networking and service demands, so fixed slot assignments cannot adapt to time-sensitive changes. This can lead to insufficient or wasted slots and increased end-to-end delay and jitter.\"},{\"question\":\"What is RB-CCA used for in the proposed scheme?\",\"answer\":\"RB-CCA (Random Backoff with Centralized Collision Avoidance) targets uncertain access delay caused by node collisions. It supports collision avoidance and enables analysis of collision and access success probabilities using a Markov chain.\"},{\"question\":\"How are minimum service delay and slot length obtained?\",\"answer\":\"The method defines a minimum time-sensitive service delay model and applies DySTMap Ivy Algorithm (DIvyA) to compute the minimum delay and the required slot length for nodes.\"}]","Dynamic time slot allocation method for deterministic communication in UAV formation | PDF",1790748251,43]