# Beacon-Based Hybrid Routing Protocol for Large-Scale Unmanned Vehicle Ad Hoc Network
## 2 Beacon-Based Multi-Agent Network Hybrid Routing Algorithm
### Path Discovery and Maintenance
#### 2.2.1 Path Discovery
The simulation results showed that the PDR and RL performance of the beacon-based routing protocol were better than the network with traditional AODV and DSDV routing protocols. When they were used in a range 5-35 communication links, the beacon-based routing protocol PDR was approximately 10% higher than that of AODV routing protocol. At 5 - 50 communication links, result was approximately 20% higher than the DSDV routing protocol. The beacon-based routing protocol with different pulse cycles were compared. The RL of the beacon-based routing protocol were unrelated to the number of nodes and communication link data in the LUVN, which effectively improved the stability and reliability of the network. The beacon-based routing protocol we designed is more suitable for future LUVN battlefields. Conceptualization, Y.M. and Z.L. ; methodology, W.M. ; software, G.L. ; validation, W.M., R.W. and Z.L. ; formal analysis, W.M. ; investigation, Y.L. ; resources, Y.M. ; data curation, Z.L. ; writing--original draft preparation, W.M. and Y.M. ; writing--review and editing, Z.L. ; visualization, R.W. ; supervision, G.L. ; project administration, Y.L. ; funding acquisition, Y.M. All authors have read and agreed to the published version of the manuscript. This research was funded by the National Key Research and Development Program under Grant 2018 YFE0204302, This research was funded by NSFC, grant number 51979261 and Intelligent Unmanned System Key Technology Cutting-Edge Tracking Research, grant number 4142Z17. All data can be requested from the corresponding author. Authors acknowledge the technical support given by [PERSON]. The authors declare no conflict of interest. ## References

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