Communication reliability between a UAV swarm and the ground control station (GCS) is crucial for its safe deployment, but unforeseen interference can cause communication failure. There is a lack of proposals on the mitigation of such failure. Here, we propose packet-rebroadcasting by UAV (with packet-loss-count (PLC) based probability) and GCS to mitigate packet loss to maintain safety. This mitigation scheme is activated in waypoint control mode when failure is predicted using a modified throughput as proxy for reliability. The performance of our novel approach is evaluated for a representative UAVs-GCS network across UAV and MANET interference scenarios with low to high interference strengths. Our modified throughput, which correlates far better with reliability than throughput, achieved similar high mean specificity (∼1) for failure prediction, but much lower mean false negative rate overall with concomitant low failure risks. Our proposed mitigation scheme out-performed its variants (with different combinations of rebroadcasting strategy (hybrid/UAV-only) and probability (PLC/fixed/distance-based), and no rebroadcasting), achieving the lowest probability (∼2%) of three consecutive packet loss with the highest rebroadcast efficiency. Our approach enables UAV swarm deployment with a high-level of safety, even if strong interference is encountered.
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