Group Mobility Model for Complex Multimission Cooperation of UAV Swarm

Table 1

Mobility model categories in Ad hoc in recent years.

Class	Mobility name	Main schemes	Related literature
Random class	Random walk mobility	Random but limited speed and angle	[7]
	Random direction mobility	Random speed and angle. Not changing speed and angle until encountering borders	[8]
	Random waypoint mobility	Based on the random walk mobility by adding a wait time when arriving at the destination	[9]
	Gauss-Markov mobility	Similar to the random walk mobility, but adding a speed correlation factor	[10, 11]
	Smooth random mobility	Similar to the random waypoint mobility, but with smoothed changes for speed and direction	[12]
	Paparazzi mobility	Paparazzi movements: stay, waypoints, scan, oval	[13, 14]
Reference class	Reference point group mobility	Logical reference point and center which will affect the speed of the next moment	[15, 16]
	Particle swarm mobility	Random speed and waypoints, collision-free adjustment by particle swarm algorithm	[17]
	Reference velocity group mobility	Reference point with speed and direction, similar to reference point group mobility	[18]
	Freeway mobility	Reference direction which emulates the freeway motion	[19]
Associate class	Pheromone repel mobility	Random movement, pheromone driven	[20, 21]
	Hierarchical influence mobility	Nature-based model by using binary influence in different nodes	[22]
	Connectivity and coverage mobility	Ensure connectivity and coverage mainly for reconnaissance tasks	[23–27]
	Community mobility	Based on social relationships among individuals	[28]