KR102339925B1 - Apparatus for controlling multi-drone networks and method for the same - Google Patents

Abstract

In a method for controlling a multi-drone network according to an embodiment of the present invention, a parent controller controlling the plurality of child controllers in connection with a plurality of child controllers managing at least one application service on at least one drone network is a multi-drone network. A method for hierarchically controlling a . and updating the multi-drone network resource table according to a change in the state of the drone network.

Description

Multi-Drone Network Control Apparatus and Method

The present invention relates to an apparatus and method for controlling a multi-drone network, and more particularly, to a multi-drone network control apparatus and method for hierarchically controlling and managing a multi-drone network.

Currently, it can be seen that the method of configuring a network using a drone differs depending on the application service. For example, there may be drone squadrons that control the formation of a squadron according to the relative positions of drones within a specific squadron, dynamically configure a drone network based on the link cost between drones, or fly according to a specific navigation algorithm. can

Various technologies have been proposed in the past with respect to a technology for configuring a network using a plurality of drones. For example, a plurality of drones relatively grasp each other's positions, configure a drone squadron based on the relative location, detect factors affecting the formation flight, control the formation shape according to the factors, and configure the squadron A drone squadron control technology that maintains the squadron by immediately reflecting it in the flight information when a flying drone is added or departed has been proposed. However, this technology focuses on a method of controlling flight formation through the relative positional relationship of drone swarms, so it is possible to control and manage multiple drone networks in a situation where the ground control device supports various drone application services. cannot support

As another technique, a dynamic tree topology formation technique of a formation flight UVA (Unmanned Aerial Vehicle) sensor network has been proposed. In this technology, the parent node is selected based on the link cost calculated in consideration of the LQI (Link Quality Indicator) of beacon messages received from neighboring nodes and the cumulative number of hops, and an optimal tree network is established through link setup between drones. The focus is on how to configure it.

As another technique, each pattern position is assigned to multiple drones flying according to a single pattern, and the waypoint at which the drone should fly according to the pattern position is identified, and then a specific navigation is performed. ), a technique for flying drones to intermediate points where the drone should fly according to the algorithm has been proposed. However, this technology also provides a method for configuring a drone network in which multiple drones fly according to a specific pattern, but does not provide a systematic and efficient method for configuring a drone network.

An object of the present invention to solve the above problems is to provide a method for hierarchically controlling a multi-drone network.

Another object of the present invention to solve the above problems is to provide an apparatus for hierarchically controlling a multi-drone network using the method.

In order to achieve the above object, a method for controlling a multi-drone network according to an embodiment of the present invention includes controlling the plurality of child controllers in connection with a plurality of child controllers that manage at least one application service on at least one drone network. A method for a parent controller to hierarchically control a multi-drone network, the multi-drone network resource table including information on at least one drone network managed by an individual child controller and information on at least one resource related to the drone network creating a; and updating the multi-drone network resource table according to a change in the state of the drone network.

Here, the at least one resource may include at least one drone belonging to a corresponding drone network, at least one AP to which the drone connects, a child controller, and other network resources.

To achieve the above another object, an apparatus for controlling and managing a drone network according to an embodiment of the present invention may include a processor and a memory for storing at least one command executed through the processor.

Here, the at least one command causes the processor to control a multi-drone network including a plurality of child controllers managing at least one application service on at least one drone network and a parent controller controlling the plurality of child controllers The at least one command includes information on at least one drone network managed by an individual child controller and information on at least one resource related to the drone network to generate a multi-drone network resource table It may include a command and a command to update the multi-drone network resource table according to a change in the state of the drone network.

According to the embodiments of the present invention as described above, a multi-drone network control apparatus and method for allowing a plurality of one drone network to which a similar control-rule is applied through a child and parent controller relationship that conventional technologies cannot provide can provide

1 is a conceptual diagram of a multi-drone network according to an embodiment of the present invention.
2 is an exemplary diagram of a resource table of a multi-drone network according to an embodiment of the present invention.
3 is a structural diagram schematically illustrating a relationship between elements of a multi-drone network resource table according to an embodiment of the present invention.
4 is a conceptual diagram illustrating a state transition concept of a multi-drone network according to an embodiment of the present invention.
5 shows an embodiment of a drone network control method in a drone network idle state.
6 illustrates an embodiment of a drone network control method in a drone network registration state.
7 illustrates an embodiment of a drone network control method in a drone network activation standby state.
8 shows an embodiment of a drone network control method in a drone network idle state.
9 is an operation flowchart of a drone network control method according to an embodiment of the present invention.
10 is an operation flowchart of a drone network control method according to another embodiment of the present invention.
11 illustrates an operational flow of a method for managing a state of a drone network according to an embodiment of the present invention.
12 is a block diagram of an apparatus for managing a state of a drone network according to an embodiment of the present invention.

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. In describing each figure, like reference numerals have been used for like elements.

Terms such as first, second, A, and B may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. The term “and/or” includes a combination of a plurality of related listed items or any of a plurality of related listed items.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a conceptual diagram of a multi-drone network according to an embodiment of the present invention.

As shown in FIG. 1 , the multi-drone network according to an embodiment of the present invention may largely include child controllers 100 , a drone network 200 , a parent controller 300 , and a network 400 . .

1, the child controllers 100 control and manage the corresponding application services (S1, S2, ...) on their drone network 200 (DN-1, DN-2, ...) can do. The parent controller 300 may provide common control and management functions required by each child controller.

The network 400 may be configured to include a wired and wireless network, and a network end-end node 410, for example, a base station (eNodeB) that transmits status/control/collection information occurring between the network and the drone in the middle. ) or an access point (AP).

In an embodiment of the present invention, the drone network 200 includes at least one physical network 210 (PN-1, PN-2, ...) that is dependent on a specific AP or includes at least one drone connected to the AP. may include The physical network is a lower-level drone network (DN-1, ..., DN-5) related to the application service of the child controller, and an intermediate layer that maintains its own child drone network (Child DN) within these physical drone networks. of the drone network (DN-6, DN-7), the upper drone network (DN-8) configured over multiple physical drone networks, and each of the physical drones (Drone-1, ... , Drone-15). ) may be included.

The shapes and relationships between the various drone networks (DN-1, ..., DN-5) described in the embodiment of FIG. 1 are only examples of configurable drone networks, and the configuration of the drone network considered in the present invention Or the form is not limited thereto.

In the present invention, a multi-drone network is controlled or managed using a dual structure including a child controller and a parent controller.

How to configure the drone network in the present invention may vary depending on application services. For example, if the application service that configures the optimal tree network through the link setup between drones is determined to be appropriate, the child controller configures its own drone network with these unique network characteristics, and the parent controller can accommodate various child controllers. A global drone network that can That is, another drone network may be configured by controlling or managing a plurality of various drone networks or linking them with each other.

In the existing technology for configuring drone networks, the configuration performance of the drone network may be different depending on the internal configuration mechanism. In other words, since the development and application of new methods, mechanisms, and algorithms is possible, the update frequency of the processes operating in the computing environment is relatively high. There is a need for a way to construct association relationships.

Therefore, in the present invention, in response to this demand, control and/or management of various application services with high updateability on a specific drone network are performed by each child controller, and functions commonly required by these child controllers ( For example, control and management such as resource allocation and configuration for upper drone networks, and relationship setting) can be performed by the parent controller. By this method according to the present invention, drone networks configured through child controllers can maintain a hierarchical control relationship through a parent controller. For example, a drone network of an upper layer may be configured with drones serving as master drones in each drone network.

Accordingly, the present invention intends to provide an apparatus and method for controlling a multi-drone network so that a plurality of one drone network to which similar control-rules are applied can exist through a child and parent controller relationship. Here, the drone network may be configured to include one or more drones.

2 is an exemplary diagram of a resource table of a multi-drone network according to an embodiment of the present invention.

In FIG. 2, a resource table (a.k.a. Multiple Drone Network Resource (MDNR) table) for a child controller, a drone network (DN), an AP, and at least one drone illustrated in FIG. 1 is shown. The resource table according to an embodiment of the present invention shown in FIG. 2 is independent of an actual implementation method, and conceptually expresses the relationship between various functional entities. Here, the multi-drone network resource table includes respective drones (Drone-1, ... , Drone-15), various types of drone networks (DN-1, ... , DN-8), and at least one AP. , a table maintained by the parent controller in the relationship between child controllers.

More specifically, in the overall view 2A, for example, child controller 1 is operating on a drone network called DN-1 to support S1 application service. The drone network DN-1 does not have a child DN assigned to it, but has DN-8 as a parent DN. The drone network DN-1 consists of drones (Drone-1, ... , Drone-5) that are actually connected to the AP-1. Drone-5 is currently serving as the master drone, and the remaining drones are It is performing the role of a general drone.

In addition, it can be seen that DN-8 controlled or managed by child controller 4 includes DN-1 as a child DN, and drone-5 of DN-1 also serves as a member of DN-8 at the same time.

Meanwhile, by looking at the multi-drone network resource table 2B when the drone network DN-1 is deleted, it is possible to check the state change of the related attributes due to the deletion of the DN-1. Referring to FIG. 2 , when the drone network DN-1 is deleted, information about the parent DN of the drone network DN-1, the AP of DN-1, and the drones of DN-1 are all deleted. Also, a change occurs in the table of DN-8, which has DN-1 as a child node. DN-1 is deleted from the child node entry of DN-8, and information on DN-1's AP and assigned drones is also included. deleted from the item.

In the present invention, the multi-drone network can be controlled using the multi-drone network resource table as shown in FIG. 2 . That is, the multi-drone network control method according to an embodiment of the present invention includes a plurality of child controllers managing at least one application service on at least one drone network and a parent controller controlling the plurality of child controllers. A method of controlling a drone network, the method comprising: generating a multi-drone network resource table including information on at least one drone network managed by an individual child controller and information on at least one resource related to the drone network; and updating the multi-drone network resource table according to a change in the state of the drone network.

Here, the resource may include at least one drone belonging to the corresponding drone network, at least one AP to which the drone is connected, a child controller, and other network resources.

3 is a structural diagram schematically illustrating a relationship between elements of a multi-drone network resource table according to an embodiment of the present invention.

Referring to FIG. 3 , a relationship between each element of the resource table of FIG. 2 may be visually confirmed. For example, one child controller may be associated with a plurality of drone networks, and one AP may also be associated with a plurality of drone networks. In addition, one AP may be linked with a plurality of drones.

4 is a conceptual diagram illustrating a state transition concept of a multi-drone network according to an embodiment of the present invention.

The conceptual diagram shown in FIG. 4 divides the state of the drone network into idle (S1), registration (S2), activation standby (S3), and activation (S4) states for the parent controller to control or manage the multi-drone network, and each state It is a conceptual diagram showing the transition relationship between

The idle (S1) state of the drone network is a state or process before receiving a drone network creation request from a user and entering the registration state.

The state of registration (S2) of the drone network refers to the state in which authentication of the actual user of the drone is performed or the state before entering the activation standby or activation state after confirming the immediate execution location/mission/drone, etc.

In the state of waiting for activation (S3) of the drone network, it is checked whether the configured drone network actually operates according to the requirements of the user or operator before entering the activation phase.

Thereafter, in the activation (S4) state, the operation of exchanging and delivering status, control, and collection information is performed in connection with the drone and the server or controller (child controller, parent controller).

5 shows an embodiment of a drone network control method in a drone network idle state.

5 is a flowchart illustrating a detailed operation of the drone network in an idle state in detail. The control method of the drone network shown in FIG. 5 may be performed by the parent controller according to the present invention, but the operating subject is the parent controller. It is not limited.

Referring to FIG. 5 , a drone network creation request is received from a user in an idle state (S510), and user and operator requirements for the drone network are analyzed (S520). Thereafter, a standard of a drone network that meets the requirements of a user and an operator is determined (S530), and related resources are allocated to the corresponding drone network (S540). Here, the resource may include at least one drone belonging to the corresponding drone network, at least one AP to which the drone is connected, a child controller, and other network resources. When the standard of the drone network is determined and related resources are allocated, a corresponding drone network is configured (S550). The configured drone network may include a child controller, a parent controller, a network, an AP, and a drone, and a connection relationship between them may also be defined.

When the drone network is configured, the communication status between network components, for example, the parent controller, child controller, AP, and drone is checked (S560), and additional drone network status management is performed (S570) to complete the idle step. do.

6 illustrates an embodiment of a drone network control method in a drone network registration state.

6 is a flowchart illustrating a detailed operation in a registered state in detail. The control method of the drone network shown in FIG. 6 may be performed by the parent controller according to the present invention, but the operation subject is limited to the parent controller it is not

Referring to FIG. 6 , in the registration step of the drone network, first, it is determined whether authentication of the actual user of the drone is required (S601), and if necessary, user authentication is performed (S602). Here, the user authentication procedures ( S601 and S602 ) are procedures that can be omitted if necessary. When user authentication is not required, the execution location, execution mission, and drone to perform the mission are checked immediately (S603), and details of the corresponding drone network are provisioned to the target drone, etc. (S604).

Thereafter, if user authentication is not performed in the registration start step, or whether subsequent user authentication is required for actual task performance (S605), and if necessary, user authentication is performed (S606). Additionally, before entering the DN activation step, it is checked whether a process for checking whether the main function of the drone is operating smoothly is necessary to perform the corresponding mission (S607). As a result of the check, if a test is required (Yes in S607), an additional DN state management process is performed (S607) and the registration step is completed to enter the activation standby state. On the other hand, if it is not necessary to check whether the main function of the drone operates smoothly in step S607 (No in S607), the related drone is immediately requested to start performing the mission (S620), and an additional DN state management process is performed for this (S621) This completes the registration phase and moves to the activation phase.

7 illustrates an embodiment of a drone network control method in a drone network activation standby state.

7 is a flowchart illustrating a detailed operation of the drone network in an activation standby state. The control method of the drone network shown in FIG. 7 may be performed by the parent controller according to the present invention, but the operation subject is the parent controller. is not limited to

Referring to FIG. 7 , when the activation standby state starts, a test is performed to see if the configured drone network actually operates according to the user's or operator's requirements (S710), and the test result is analyzed (S720). Thereafter, it is reviewed whether a change is necessary, such as resource allocation of the configured drone network (S730, S740), and if a change is necessary, a process of changing the details of the DN is performed (S750). If it is necessary to change the details of the DN, step 607 of FIG. 6 is entered and a process of checking whether it is necessary to test whether the main function of the drone operates smoothly is performed to perform the corresponding mission. On the other hand, if it is no longer required to change the drone network in step S740, it moves to step S620 of FIG. 6, requests the related drone to start the mission immediately, and performs an additional DN status management process to complete the activation standby step.

8 shows an embodiment of a drone network control method in a drone network idle state.

8 is a flowchart illustrating a detailed operation of the drone network in an idle state in detail. The control method of the drone network shown in FIG. 8 can be performed by the parent controller according to the present invention, but the operating subject is the parent controller. It is not limited.

Referring to FIG. 8 , when a change request is made to a pre-configured drone network (S810), a process of changing the details of the drone network (S811) is performed, and a change in DN is notified to the user. Additionally, the process moves to step S607 of FIG. 6 and checks whether the main function of the drone is smoothly operated to perform the corresponding mission in relation to the change.

On the other hand, in the active state of the drone network, the process (S820) of exchanging and delivering state/control/collection information between the drone and the server or controller (Child and/or Parent controller) is mainly performed, and the drone and the mission through the DN are no longer performed. If it is not necessary to perform, the activation step is completed (S830).

9 is an operation flowchart of a drone network control method according to an embodiment of the present invention.

The method of controlling the drone network shown in FIG. 9 may be performed by the parent controller according to the present invention, but the operation subject is not limited to the parent controller.

9 illustrates an operation sequence when a deletion request is received from the corresponding drone network (DN) when the drone network is in any one of the aforementioned idle, registration, activation standby, and active states.

Referring to FIG. 9 , when a 'delete' request for a specific drone network is received from a user (S910), an additional DN state management (DELETED) process (S920) is performed. In addition, the resource allocated to the corresponding DN is released (S930) and the current step is completed.

10 is an operation flowchart of a drone network control method according to another embodiment of the present invention.

10 is a flowchart illustrating a process of changing the details of a specific drone network.

Referring to FIG. 10 , a resource change request for a corresponding drone network is received from a user in an idle state (S1010), and user and operator requirements related to a drone network resource change request are analyzed (S1020). Thereafter, the specifications of the drone network are changed to meet the requirements of users and operators (S1030), and necessary resources are allocated to the drone network (S1040).

Here, the resource may include at least one drone belonging to the corresponding drone network, at least one AP to which the drone is connected, a child controller, and other network resources. When the specification of the drone network is changed and related resources are allocated, the drone network is reconfigured (S1050). The configured drone network may include a child controller, a parent controller, a network, an AP, and a drone, and a connection relationship between them may also be defined.

When the drone network is reconfigured, the communication status between network components, for example, the parent controller, child controller, AP, and drone is checked (S1060), and additional drone network status management is performed (S1070) to complete the idle step. do.

11 illustrates an operational flow of a method for managing a state of a drone network according to an embodiment of the present invention.

Referring to FIG. 11 , in the "Registered" state (S1110), details about the corresponding DN are registered or created in the multi-drone network resource (MDNR) table (S1112), and the state of the own DN is reflected (S1113). In addition, the existing DN and child / parent (Child / Parent) relationship is set, and the current MDNR table information is stored in the backup memory (S1114).

Thereafter, the user or operator is notified about the status of the corresponding DN, and the procedure is terminated (S1116).

In the "Activation-ready" state (S1120), the DN state is reflected in the multi-drone network resource (MDNR) table (S1121), the current MDNR table information is stored in the backup memory (S1114), and to the user or operator It notifies the current situation and ends (S1116).

Even in the "Activated" state (S1130), it reflects its DN state in the multi-drone network resource (MDNR) table (S1131), stores the current MDNR table information in the backup memory (S1114), and provides the user or operator with the current It notifies the situation and ends (S1116).

In the "Modified" state (S1140), its DN state is reflected in the multi-drone network resource (MDNR) table (S1141), and other MDNR table changes are reflected (S1142). In addition, the current MDNR table information is stored in the backup memory (S1114), and the user or operator is notified of the current situation and terminated (S1116).

In the "Deleted" state (S1150), the state of the own DN is reflected in the multi-drone network resource (MDNR) table (S1151), and other MDNR table changes (eg, change of child/parent relationship with the existing DN, etc.) are reflected. (S1143). In addition, the current MDNR table information is stored in the backup memory (S1114), and since the drone network is deleted (example of S1115), the details of the drone network are de-registered (S1117), that is, after deletion , and notifies the user or operator of the current situation and ends (S1116).

Here, the "Modified" and "Deleted" states are temporary states, unlike other states, and are used to determine the state of the MDNR table at a specific point in time.

12 is a block diagram of an apparatus for managing a state of a drone network according to an embodiment of the present invention.

The device for managing a state of a drone network according to an embodiment of the present invention may be a parent controller, and may include a processor 310 , a memory 320 , a database 330 , and an input/output interface 340 .

The apparatus for managing a state of a drone network according to an embodiment of the present invention may include a processor and at least one command executed through the processor and a memory for storing the result of the command execution.

Here, the at least one command causes the processor to control a multi-drone network including a plurality of child controllers managing at least one application service on at least one drone network and a parent controller controlling the plurality of child controllers The at least one command includes information on at least one drone network managed by an individual child controller and information on at least one resource related to the drone network to generate a multi-drone network resource table It may include a command and a command to update the multi-drone network resource table according to a change in the state of the drone network.

The database 330 may store a multi-drone network resource table generated and managed by the processor 310 . Here, the database 330 may also store various information continuously generated and managed by the processor as well as a multi-drone network resource table. The input/output interface 340 is a module for providing communication between the multi-drone network control and management device and other components.

According to the embodiments of the present invention as described above, the part that forms a squadron and flies according to a specific course search algorithm may also operate in one child controller. However, if necessary, if it is a function frequently used in child controllers, it can be applied as part of a common function in the parent controller.

In summary, control and management of various application services (or drone networks) with a high possibility of process update on a specific drone network are operated by each child controller, and functions commonly required by these child controllers (upper drone network) Control and management such as resource allocation and configuration, relationship setting) are to operate in the parent controller. Using this method, drone networks configured through child controllers can maintain hierarchical control relationships through parent controllers.

The operation of the method according to the embodiment of the present invention can be implemented as a computer-readable program or code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices in which data that can be read by a computer system is stored. In addition, the computer-readable recording medium may be distributed in a network-connected computer system to store and execute computer-readable programs or codes in a distributed manner.

In addition, the computer-readable recording medium may include a hardware device specially configured to store and execute program instructions, such as ROM, RAM, and flash memory. The program instructions may include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like.

Although some aspects of the invention have been described in the context of an apparatus, it may also represent a description according to a corresponding method, wherein a block or apparatus corresponds to a method step or feature of a method step. Similarly, aspects described in the context of a method may also represent a corresponding block or item or a corresponding device feature. Some or all of the method steps may be performed by (or using) a hardware device such as, for example, a microprocessor, programmable computer or electronic circuit. In some embodiments, one or more of the most important method steps may be performed by such an apparatus.

In embodiments, a programmable logic device (eg, a field programmable gate array) may be used to perform some or all of the functionality of the methods described herein. In embodiments, the field programmable gate array may operate in conjunction with a microprocessor to perform one of the methods described herein. In general, the methods are preferably performed by some hardware device.

Although described above with reference to the preferred embodiment of the present invention, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that you can.

100: child controller 200: drone network
300: parent controller 310: processor
320: memory 330: database
340: input/output interface

Claims (8)

A method of hierarchically controlling a multi-drone network by a parent controller controlling the plurality of child controllers in connection with a plurality of child controllers that manage at least one application service on at least one drone network,
generating a multi-drone network resource table including information on at least one drone network managed by an individual child controller and information on at least one resource related to the drone network; and
and updating the multi-drone network resource table according to a state change of the drone network.
The method according to claim 1,
The at least one resource is
A method for controlling a multi-drone network, comprising at least one drone belonging to a corresponding drone network, at least one AP type equipment to which the drone is connected, a child controller, and network resources. The method according to claim 1,
The multi-drone network resource table is managed by the parent controller and used to control the multi-drone network. The method according to claim 1,
The state of the drone network is,
A multi-drone network control method, which is set to an idle state, a registered state, an activation standby state, or an active state. An apparatus for hierarchically controlling a multi-drone network including a plurality of child controllers managing at least one application service on at least one drone network and a parent controller controlling the plurality of child controllers,
processor; and
a memory for storing at least one instruction executed by the processor;
The at least one command is
a command to generate a multi-drone network resource table including information on at least one drone network managed by an individual child controller and information on at least one resource related to the drone network; and
and a command to update the multi-drone network resource table according to a state change of the drone network. 6. The method of claim 5,
The at least one resource is
A multi-drone network control apparatus comprising at least one drone belonging to the corresponding drone network, at least one AP type equipment to which the drone is connected, a child controller, and network resources. 6. The method of claim 5,
The multi-drone network resource table is managed by the parent controller and used to control the multi-drone network. 6. The method of claim 5,
The state of the drone network is,
A multi-drone network control device that is set to an idle state, a registered state, an activation standby state, or an active state.

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