The Experimental Data Sets and Appendix of the paper “Communication Topology Optimization for a Three-dimensional Persistent Formation with Fault Constraints”
According to the different proportion of agent loss and link loss in faults, five experimental data sets are designed. Among them, the fault type corresponding to data set A is agent loss where the proportion of link loss in faults is 0%, the fault type of data set B, C and D is agent & link loss where the proportion of link loss in faults is 25%, 50% and 75% respectively, and the fault type of data set E is link loss where the proportion of link loss in faults is 100%. In each experimental data set, experimental instances are generated under different number of agents, formation shape, and fault ratio. Specifically, the number of agents is 20, 30, 40, and 50 respectively, 5 different formation shapes are randomly generated in the area of 5000×5000×5000 under the same number of agents, and the fault ratio is 0.05, 0.10, 0.15, 0.20, 0.25, 0.30, 0.35, 0.40, 0.45, and 0.50 respectively. Therefore, the total number of experimental instances is 5×4×5×10 = 1000. Specifically, the fault ratio under agent loss is the ratio of the number of agents suffering agent loss to the number of all agents in the initial optimal communication topology, the fault ratio under link loss is the ratio of the number of communication links suffering link loss to the number of all communication links in the initial optimal communication topology, and the fault ratio under agent & link loss is the sum of fault ratio under agent loss and fault ratio under link loss, where the fault ratio under agent loss is equal to the fault ratio under link loss. Each experimental instance has an identifier that includes the corresponding data set, the number of agents and the formation shape. For example, A-20-1 indicates that this experimental instance belongs to data set A, its number of agents is 20, and its formation shape is the first one. For each experimental instance, the corresponding formation communication cost of the solution obtained by each algorithm and its calculation time are listed in the Appendix.