# A Distributed Autonomous Mission Planning Method for the Low-Orbit Imaging Constellation
## 5 Results
### Experimental Result
#### 5.2.2 Comparison of Communication Volume  
The experiments tested the performance on communication volume and scheduling effect on three different configurations of c-CBBA, including separate SCS and two hybrid strategy of SCS and TPS: SCS+TPS (\(\alpha=2\)) and SCS+TPS (\(\alpha=3\)), simultaneously compared with CNP and the basic CBBA. Figure 10a shows the required communication volume for different algorithms in different scenarios. The calculation method is as follows: every time the satellite transmits information to a neighbor, the communication volume is increased by one. The horizontal axis represents the scenario, which corresponds to the scenario number in Table 7 one by one. The communication topology obtained by applying the SCS is based on Figure 8b. \begin{table}
\begin{tabular}{c c c c c c c c c c c} \hline \hline \multirow{2}{*}{ \begin{tabular}{c} **Task** \\ **Type-** \\ **Quantity** \\ \end{tabular}  } & \multirow{2}{*}{**Sat**} & \multirow{2}{*}{**Scenario**} & \multirow{2}{*}{**TS**} & \multirow{2}{*}{**TP**} & \multirow{2}{*}{ \begin{tabular}{c} **CPU** \\ **Time** \\ **(s)** \\ \end{tabular}  } & \multirow{2}{*}{**TS**} & \multirow{2}{*}{**TP**} & \multirow{2}{*}{ \begin{tabular}{c} **CPU** \\ **Time** \\ **(s)** \\ \end{tabular}  } & \multirow{2}{*}{**TS**} & \multirow{2}{*}{**TP**} & \multirow{2}{*}{\ \begin{tabular}{c} **Time** \\ **(s)** \\ \end{tabular}  } & \multirow{2}{*}{**TS**} & \multirow{2}{*}{**TP**} & \multirow{2}{*}{ \begin{tabular}{c} **CPU** \\ **Time** \\ **(s)** \\ \end{tabular}  } \\ \hline local & 30 & 1 & 237 & **18,002.2** & 0.11 & 228 & 17,805.9 & 0.103 & 231 & 17,985.1 & 0.001 \\ - & 60 & 2 & 335 & **24,458.2** & 0.50 & 331 & 24,156.6 & 0.501 & 331 & 24,155.9 & 0.001 \\
360 & 90 & 3 & 350 & **26,217.9** & 1.16 & 348 & 26,096.5 & 1.206 & 348 & 26,096.5 & 0.001 \\ \hline local & 30 & 4 & 277 & **22,321.3** & 0.19 & 255 & 21,674.9 & 0.183 & 253 & 21,522.9 & 0.002 \\ - & 60 & 5 & 496 & **38,083.1** & 1.02 & 475 & 37,488.8 & 1.037 & 471 & 37,233.3 & 0.002 \\
720 & 90 & 6 & 628 & **47,275.2** & 2.93 & 612 & 46,462.6 & 2.765 & 611 & 46,374.1 & 0.003 \\ \hline local & 30 & 7 & 298 & **24,807.6** & 0.29 & 263 & 23,484.9 & 0.273 & 264 & 23,550.7 & 0.005 \\ - & 60 & 8 & 552 & **44,125.3** & 1.49 & 522 & 43,526.1 & 1.481 & 521 & 43,511.4 & 0.006 \\
1080 & 90 & 9 & 765 & **59,501.6** & 4.75 & 750 & 59,385.6 & 5.125 & 746 & 59,114.3 & 0.006 \\ \hline global & 30 & 10 & 294 & 22,985.1 & 0.11 & 290 & 22,988.4 & 0.097 & 290 & **22,994.8** & 0.001 \\ - & 60 & 11 & 359 & **26,773.3** & 0.47 & 358 & 26,703.4 & 0.389 & 358 & 26,703.4 & 0.001 \\
360 & 90 & 12 & 360 & **26,883.6** & 0 For ease of presentation, the strategy combining SCS and TPS is called the hybrid strategy. From Figure 10, we can draw the following conclusions:  
1. The communication volume of CBBA is much lower than that of the CNP. Assume that the number of satellites is \(|S|\), the number of missions is \(|T|\), and all satellites can communicate directly with each other. Each task in CNP involves three rounds of communication processes: master satellite bidding, child satellite rendering, and master satellite publishing the winning bid results. Considering that the master satellite combines the notification of the previous task bidding result and the sending of the next task bidding information into one communication, the required communication volume for the CNP is \((2|T|+1)\times(|S|-1)\). For CBBA, as each communication interaction involves information from the task bundle, the amount of information in each communication interaction is greatly increased, which can effectively reduce communication volume. 2. Both SCS and TPS can effectively reduce communication volume. The SCS is used to remove redundant information transmission, so it does not affect the scheduling results, while TPS reduces communication volume at the expense of some scheduling effects. Figure 10b provides an in-depth analysis of the impact of the hybrid strategy on communication volume (Comm) and scheduling profit (P).