Unmanned aerial vehicle (UAV) swarms face significant performance degradation when operating on a single-frequency channel, as the Statistical Priority-based Multiple Access (SPMA) protocol suffers from intensified contention conflicts due to scarce frequency resources. To address this issue, this paper proposes a joint clustering and power optimization method for the SPMA protocol in frequency-constrained scenarios. First, a utility function centered on the end-to-end transmission success rate is constructed, and the optimal clustering scheme selection is formulated as a constrained combinatorial optimization problem. Second, a three-stage heuristic algorithm is designed; all iterations are executed virtually at network initialization. K-means is used to perform initial clustering and determine the minimum power required for intra-cluster services, GPSR is used to establish multi-hop routes for inter-cluster services, and the ant colony algorithm refines the transmission power of forwarding nodes, achieving joint optimization of cluster structure and power configuration. Simulation results show that, compared with the standalone SPMA protocol and the typical clustering algorithm ICW, the proposed algorithm reduces transmission power by 90.4% relative to SPMA (with slightly higher power than ICW) and achieves a comprehensive improvement over both benchmarks. Specifically, the success rate is improved by 63.5% compared with SPMA and 162.3% compared with ICW under high traffic loads, thus achieving a well-balanced compromise between power consumption and transmission reliability. This verifies the feasibility and effectiveness of the proposed optimization method in frequency-constrained scenarios.
Wu et al. (Wed,) studied this question.
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