# TARCS: A Topology Change Aware-Based Routing Protocol Choosing Scheme of FANETs
## 2 Related Work
### Topology Change Perception Methods and Processing Methods  
The state-of-the-art perceptions of topology changes are limited to mobility aware of nodes and paths. [PERSON] [7] described mobility models and mobility metrics in detail. [PERSON] et al. [8] defined several mobile metrics, such as node spatial dependence, node temporal dependence and geographic restrictions to capture mobility characteristics, and proposed the IMPORTANT framework for analyzing the impact of mobility on the performance of routing protocols. [PERSON] et al. [9] explained the relationship among node mobility, network topology changes and network performance such that the high speed of nodes in a MANET did not mean rapid topology changes, and changes in network topology caused by changes of node speed and direction ultimately affected network performance. A dynamic routing algorithm improved from the dynamic source routing algorithm (DSR [4]) and proposed by [PERSON] et al. [10] by selecting relatively static nodes according to the Doppler frequency shift was applied to the aeronautical ad hoc networks (AANETs) with high-speed nodes. [PERSON], [PERSON] et al. [11] proposed the mobility and load aware OLSR (ML-OLSR) protocol, which combined mobile sensing and load sensing with the procedures of selecting more stable nodes as the multi point relay (MPR) points, and lower-load routing to reduce the average end-to-end delay. The protocol is applicable to the unmanned aerial vehicle (UAV) networks with high-speed nodes and unbalanced loads. The protocol proposed by [PERSON] et al. [12] was also applicable to AANETs in which the effective time of the largest link was estimated according to the node relative speed and the Doppler shift of the received signal; meanwhile the traffic load was referenced during the route discovery. The mobility pattern aware routing protocol proposed by [PERSON], [PERSON] et al. [13] requires geographic assistant location information and relies on IEEE 802.16 base station assistance for a heterogeneous vehicular network (HVN). [PERSON] et al. [14] proposed a protocol framework with the defined three-layer services of mobility classification service (MCS), strategy selection service (SSS) and routing service (RS) to make nodes with different mobility levels use different routing protocols. It is suitable for high-speed mobile networks with sparse nodes. [PERSON], [PERSON] et al. [15] combined the DSR protocol with the ant colony optimization algorithm (ACO), judging the stability between nodes and neighbors according to the received signal power, using the ACO to detect the network congestion degree. Nodes with high mobility in the cache were deleted according to the node stability and the congestion degree. The premise of the protocol proposed by [PERSON], [PERSON] et al. [16] was that the velocity of the node had been measured before, the basic idea of which was to prevent high mobility nodes from participating in route discovery. [PERSON], [PERSON] et al. [17] proposed two probability models for speed perception, with which two protocols were proposed by improving the ad-hoc on-demand distance vector (AODV) [18] routing algorithm. The protocol proposed by [PERSON], [PERSON] et al. [19] judged node stability based on the received signal power, and improved the OLSR protocol by selecting the more stable neighbor node as the MPR node. [PERSON], [PERSON] et al. [20] proposed a protocol to select the most powerful node from the received signal as a stable link in light of signal strength-based link stability estimation to solve the routing failure problem in multipath networks.