Key node identification method and device, equipment, storage medium and product

Abstract

The application discloses a key node identification method and device, equipment, storage medium and product, relates to the communication technical field, the key node identification method, including: in response to the key node identification instruction, based on the maximum consensus protocol, iteratively obtaining global node reachability and inter-node shortest path information; based on the global node reachability and the inter-node shortest path information, a connected relationship set is constructed, and a connected component set is constructed according to the union-find set algorithm; whether the current node is a key node is judged based on the connected relationship set and the connected component set.The application is based on the collaborative use of the maximum consensus protocol and iterative communication, which can not only realize efficient integration and accurate grasp of global information, but also determine the real connected relationship between nodes, finally complete accurate identification of key nodes, significantly improve the accuracy of key node identification, and realize accurate evaluation of the robustness of a multi-robot communication network.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, in particular to a key node identification method and device, equipment, storage medium and product. BACKGROUND

[0002] Robustness of distributed communication networks plays a vital role in today's intelligent systems, especially in multi-robot collaborative work, industrial Internet of Things, etc. The maintenance of network connectivity is directly related to the reliable operation and task execution efficiency of the system. The identification of key nodes (i.e. nodes whose failure will lead to network splitting) is an important indicator of network invulnerability.

[0003] In existing distributed algorithms, some need to construct an approximate structure of the global topology (such as distributed spanning tree) locally, which essentially still exposes the network connection relationship. Some methods based on local neighbor information to predict key nodes (such as two-hop neighbor analysis, algebraic connectivity estimation) protect privacy, but due to the dependence on insufficient conditions, it leads to missed or false judgments.

[0004] Therefore, how to accurately identify key nodes in a completely distributed and privacy-protected framework is a technical problem that needs to be solved. SUMMARY

[0005] The main purpose of the present application is to provide a key node identification method, device, equipment, storage medium and product, which aims to solve the technical problem that key nodes cannot be accurately obtained in a distributed communication network.

[0006] To achieve the above purpose, the present application provides a key node identification method, which comprises:

[0007] In response to a key node identification instruction, the global node reachability and the shortest path information between nodes are iteratively obtained based on the maximum consensus protocol;

[0008] Based on the global node reachability and the shortest path information between nodes, a connected relationship set is constructed, and a connected component set is constructed according to the union-find set algorithm;

[0009] Based on the connected relationship set and the connected component set, it is determined whether the current node is a key node.

[0010] In an embodiment, the step of iteratively obtaining global node reachability and shortest path information between nodes based on the maximum consensus protocol comprises:

[0011] Communicate with neighbor nodes to obtain the adjacent node reachability state and adjacent node path distance of local nodes and neighbor nodes;

[0012] updating the adjacent node reachability state of the current local node and the adjacent node path distance to a global reachability state and a global distance state among the respective robot nodes;

[0013] updating the global reachability state and the global distance state among the respective robot nodes in multiple rounds according to a preset number of iterations;

[0014] converging the global reachability state and the global distance state after multiple rounds of updating according to a maximum consensus protocol, to determine a global node reachability and a shortest path information among the respective robot nodes.

[0015] In an embodiment, the step of constructing a connected relationship set based on the global node reachability and the shortest path information among the nodes, and constructing a connected component set according to a union-find set algorithm comprises:

[0016] adding a neighbor node pair that meets a preset connected relationship condition to a connected relationship set established in advance based on the global node reachability and the shortest path information among the nodes;

[0017] initializing each node as an independent connected component;

[0018] traversing each neighbor node pair in the connected relationship set, and if a first connected component corresponding to a first node in the neighbor node pair is inconsistent with a second connected component corresponding to a second node, merging the first connected component and the second connected component into a third connected component;

[0019] replacing the first connected component and the second connected component with the third connected component;

[0020] combining all connected components into a connected component set after the traversal ends.

[0021] In an embodiment, the step of determining whether the current node is a key node based on the connected relationship set and the connected component set comprises:

[0022] calculating a neighbor node coverage set of the current node according to the connected relationship set;

[0023] extracting a connected component subset of the current node according to the connected component set;

[0024] determining whether the current node is a key node based on the neighbor node coverage set and the connected component subset according to a preset key node determination condition.

[0025] In an embodiment, the step of determining whether the current node is a key node based on the neighbor node coverage set and the connected component subset according to a preset key node determination condition comprises:

[0026] Based on the connected component set, a communication block division is performed on each neighbor node of the current node to generate a connected communication block;

[0027] If the neighbor node is not covered by the connected communication block, a single-node communication block is created;

[0028] The connected communication block and the single-node communication block are merged to obtain an independent communication block set of the current node.

[0029] In an embodiment, the step of determining whether the current node is a key node based on the connected relationship set and the connected component set comprises:

[0030] If there is a key node connected to the current node among the robot nodes, a preset state vector is updated;

[0031] Based on the state vector and the connected relationship set, a double connectivity state of the network is determined according to a preset double connectivity judgment condition.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a key node identification device, which comprises:

[0033] An acquisition module is configured to, in response to a key node identification instruction, iteratively acquire global node reachability and inter-node shortest path information based on a maximum consensus protocol;

[0034] A construction module is configured to construct a connected relationship set based on the global node reachability and the inter-node shortest path information, and construct a connected component set according to a union-find set algorithm;

[0035] A determination module is configured to determine whether a current node is a key node based on the connected relationship set and the connected component set.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a key node identification device, which comprises: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the key node identification method as described above.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the key node identification method as described above.

[0038] In addition, to achieve the above object, the application further provides a computer program product, which comprises a computer program, and the computer program, when executed by a processor, implements the steps of the key node identification method as described above.

[0039] The one or more technical solutions provided in the application have at least the following technical effects:

[0040] Compared with the algorithm in the related art that has security risks by constructing an approximate structure of the global topology locally, and the algorithm that has a relatively low accuracy by predicting key nodes based on local neighbor information, the application iteratively acquires global node reachability and shortest path information between nodes based on a maximum consensus protocol in response to a key node identification instruction; constructs a connected relationship set based on the global node reachability and the shortest path information between nodes, and constructs a connected component set according to a union-find set algorithm; and determines whether the current node is a key node based on the connected relationship set and the connected component set. It can be understood that the application uses an iterative communication method based on the maximum consensus protocol, and when the key node identification instruction is received, each robot node starts to iteratively acquire the global node reachability and the shortest path information between nodes based on the protocol. As the iteration process continuously deepens, when the global node reachability and the shortest path information between nodes successfully converge, the connected relationship set can be constructed based on these accurate information. Subsequently, by using the union-find set algorithm, the neighbor nodes are scientifically classified and integrated based on the connected relationship set, and a clear connected component set is constructed. Based on the connected component set and the connected relationship set, it is determined whether the current node is a key node. Therefore, the cooperative use of the maximum consensus protocol and the iterative communication can not only realize efficient integration and accurate grasp of global information, but also determine the real connected relationship between nodes, finally complete accurate identification of key nodes, significantly improve the accuracy of key node identification, and realize accurate evaluation of the robustness of the multi-robot communication network. BRIEF DESCRIPTION OF DRAWINGS

[0041] The accompanying drawings, which are incorporated into and form part of the specification, illustrate an embodiment consistent with the application and, together with the specification, serve to explain the principles of the application.

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0043] Figure 1 The flowchart provided for the first embodiment of the key node identification method of the application;

[0044] Figure 2 A flowchart provided for the second embodiment of the key node identification method of the present application;

[0045] Figure 3 A flowchart provided for the third embodiment of the key node identification method of the present application;

[0046] Figure 4 A module structure diagram of the key node identification device of the present application;

[0047] Figure 5 A device structure diagram of the hardware running environment involved in the key node identification method of the present application.

[0048] The object implementation, functional features and advantages of the present application will be further explained in combination with the embodiments and with reference to the drawings. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application, and are not used to limit the present application.

[0050] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the drawings of the specification and specific embodiments.

[0051] The main solution of the present application embodiment is:

[0052] In response to the key node identification instruction, the global node reachability and the shortest path information between nodes are iteratively obtained based on the maximum consensus protocol;

[0053] Based on the global node reachability and the shortest path information between nodes, a connected relationship set is constructed, and a connected component set is constructed according to the union-find set algorithm;

[0054] Based on the connected relationship set and the connected component set, it is determined whether the current node is a key node.

[0055] In the present embodiment, the key node identification device is taken as the execution subject, and for the convenience of description, the following will be specifically described in the form of a simple device.

[0056] Since the algorithm of constructing an approximate structure of the global topology locally in the prior art has a security risk, and the algorithm of predicting key nodes based on local neighbor information has a low accuracy.

[0057] The application provides a solution, which adopts an iterative communication method based on a maximum consensus protocol. When a key node identification instruction is received, each robot node starts to steadily promote the iterative acquisition of global node reachability and inter-node shortest path information based on the protocol. With the continuous deepening of the iterative process, when the global node reachability and inter-node shortest path information are successfully converged, a connected relationship set can be constructed according to the accurate information. Subsequently, by using a union-find set algorithm, the neighbor nodes are scientifically classified and integrated according to the connected relationship set, and a clear connected component set is constructed. Based on the connected component set and the connected relationship set, it is determined whether the current node is a key node. Therefore, the cooperative use of the maximum consensus protocol and the iterative communication can not only realize efficient integration and accurate grasping of global information, but also determine the real connected relationship between nodes, finally complete accurate identification of key nodes, significantly improve the accuracy of key node identification, and realize accurate evaluation of the robustness of a multi-robot communication network.

[0058] Based on this, the embodiment of the application provides a key node identification method, which refers to Figure 1 , Figure 1 FIG. 1 is a flowchart of a first embodiment of the key node identification method of the application.

[0059] In this embodiment, the key node identification method comprises steps S10-S40:

[0060] Step S10: In response to a key node identification instruction, global node reachability and inter-node shortest path information are iteratively acquired based on a maximum consensus protocol.

[0061] It should be noted that a key node refers to a node in a network that, once failed, will cause the communication network to be split into multiple independent communication blocks that cannot communicate with each other. The maximum consensus protocol is an algorithm for reaching an agreement in a distributed system, which ensures that all nodes eventually reach a consensus on the global state based on local information. Global node reachability refers to the ability to reach all other nodes in the network from any one node, and inter-node shortest path information refers to the length or distance of the shortest communication path between two nodes.

[0062] This process allows each node to gradually build a local view of the connectivity of the entire network by communicating and exchanging information with neighbor nodes without knowing the entire network topology.

[0063] It can be understood that through the iterative process of the maximum consensus protocol, each node can integrate local information to accurately perceive the global network state, thereby providing a basis for subsequent identification of key nodes.

[0064] In an implementation, the step of iteratively obtaining global node reachability and shortest path information between nodes based on the maximum consensus protocol comprises:

[0065] communicating with neighbor nodes to obtain adjacent node reachability status and adjacent node path distance between the local node and the neighbor nodes;

[0066] updating the adjacent node reachability status and the adjacent node path distance of the current local node to global reachability status and global distance status between nodes;

[0067] updating the global reachability status and the global distance status between nodes for multiple rounds according to a preset number of iterations;

[0068] converging the global reachability status and the global distance status after multiple rounds of updates based on the maximum consensus protocol to determine global node reachability and shortest path information between nodes.

[0069] It should be noted that global node reachability refers to the ability to reach all other nodes in the network from any one node, while shortest path information between nodes refers to the length or distance of the shortest communication path between two nodes. Adjacent node reachability status refers to the connectivity status between the local node and directly adjacent nodes, and adjacent node path distance refers to the distance from the local node to adjacent nodes. Global reachability status and global distance status refer to reachability and path distance information between all nodes in the entire network.

[0070] It should be noted that the step of iteratively obtaining global node reachability and shortest path information between nodes based on the maximum consensus protocol comprises: each robot node communicates with neighbor nodes to obtain adjacent node reachability status and adjacent node path distance between the local node and the neighbor nodes; then the adjacent node reachability status and the adjacent node path distance of the current local node are updated to global reachability status and global distance status between nodes; the global reachability status and the global distance status are updated for multiple rounds between nodes according to a preset number of iterations; finally, the global reachability status and the global distance status after multiple rounds of updates are converged based on the maximum consensus protocol to determine global node reachability and shortest path information between nodes.

[0071] Understandably, by communicating with neighboring nodes, each node can obtain local reachability and distance information. Then, through multiple rounds of iterative updates, this local information is gradually integrated. Finally, under the action of the maximum consensus protocol, all nodes reach a consensus on global reachability and the shortest path. Thus, without the need for global topology information, the connectivity and path information between nodes in the network can be accurately obtained, providing a solid foundation for the subsequent identification of key nodes.

[0072] For example, a multi-robot communication network is composed of The topology diagram describes the communication connections between the robots, where each robot is considered a node and each communication channel between robots is considered an edge. Each node has a unique identifier, labeled as follows: arrive It also knows its neighbor identifiers and the total number of robots in the network. Communication only occurs between adjacent nodes connected by an edge.

[0073] Depend on A multi-robot communication network consisting of 10 robots is modeled as an undirected graph model:

[0074]

[0075] Among them, robot node set Communication edge set Set of communication edges There are edges in Represents robot nodes and They can exchange information with each other. Nodes The neighbor is defined as .

[0076] A critical node is a node whose removal causes the graph to break, splitting into multiple independent communication blocks. An independent communication block is the largest subgraph that remains connected after the removal of any single node. Multi-robot communication networks with vertex biconnectivity do not contain critical nodes and are robust. To disconnect a multi-robot communication network with vertex biconnectivity, at least two nodes must be removed.

[0077] Introducing reachability state vectors Used to detect robot nodes Is it reachable by other nodes? Introduce a distance vector. Used to estimate robot nodes Distance to other nodes. In a communication network represented by an undirected graph model, the distance between nodes is the shortest path length between two nodes.

[0078] Each robot node initializes its reachability state vector. and distance vector as follows:

[0079]

[0080]

[0081] Reachability state is updated through multiple rounds of neighbor communication, using a maximum consensus mechanism.

[0082] In the In the next iteration, each robot node From its neighboring nodes accept and Then update its reachability state according to the maximum consensus protocol. and distance vector :

[0083]

[0084]

[0085] go through After the next iteration, when the robot node and When connected, reachability state Convergence to 1, distance state Converging into nodes arrive The shortest path distance; when the robot node and When not connected, reachability state Keep it at 0, distance state Keep as .

[0086] Step S20: Based on the global node reachability and the shortest path information between the nodes, construct a set of connectivity relationships, and construct a set of connected components according to the disjoint-set data structure algorithm;

[0087] It should be noted that a connectivity set refers to a set formed by combining neighboring node pairs that meet preset connectivity conditions based on global node reachability and shortest path information between nodes. The disjoint-set data structure algorithm is a data structure algorithm used to handle the merging and querying of disjoint sets, and can efficiently construct connected component sets. A connected component set refers to multiple independent subsets into which nodes in a network are divided according to connectivity relationships. Nodes within each subset are interconnected, while nodes in different subsets are not interconnected.

[0088] It can be understood that by using the global node reachability and the shortest path information between nodes, it can be accurately identified which neighbor nodes meet the connectivity condition, thereby constructing the connectivity relationship set. Subsequently, the union-find set algorithm is used to merge the node pairs in the connectivity relationship set, and the network is divided into multiple connected components, and then the connected component set is constructed. This process provides a key basis for the subsequent judgment of key nodes, and by analyzing the connection relationship of the nodes in the connected component set, the key nodes in the network can be effectively identified, and the evaluation of network connectivity and robustness is realized.

[0089] In a feasible implementation, the step of constructing the connectivity relationship set based on the global node reachability and the shortest path information, and constructing the connected component set according to the union-find set algorithm comprises:

[0090] Based on the global node reachability and the shortest path information between nodes, the neighbor node pairs meeting the preset connectivity relationship condition are added to the pre-established connectivity relationship set.

[0091] Each node is initialized as an independent connected component.

[0092] Each neighbor node pair in the connectivity relationship set is traversed, and if the first connected component corresponding to the first node in the neighbor node pair is inconsistent with the second connected component corresponding to the second node, the first connected component and the second connected component are merged into a third connected component.

[0093] The third connected component replaces the first connected component and the second connected component.

[0094] After the traversal ends, all connected components are combined into a connected component set.

[0095] It should be noted that the connectivity relationship condition refers to a specific standard for judging whether there is a connectivity relationship between neighbor node pairs, such as whether there is a direct communication link between nodes or an indirect connectivity path formed by other nodes. The connected component refers to a group of nodes in the network that are connected to each other, and these nodes can exchange information directly or indirectly through communication links. The construction of the connectivity relationship set depends on the global node reachability and the shortest path information between nodes, ensuring that only neighbor node pairs meeting the connectivity condition are included in the set.

[0096] It can be understood that firstly, the neighbor node pairs meeting the connectivity condition are screened out to form a connectivity relationship set. Then, the connectivity of these node pairs is analyzed by using the union-find set algorithm, and the originally independent connected components are gradually merged to finally form a complete connected component set. This process realizes the accurate division of the network connectivity structure, provides accurate network topology information for the subsequent judgment of key nodes, makes the identification of key nodes more efficient and accurate, and also lays a foundation for further analysis and optimization of the network.

[0097] Exemplarily, in the first iteration, a new measure is introduced , where are neighbors of each other, is the difference between the distance from node to node and the distance from node to node , which is obtained by the iteration convergence of and .

[0098]

[0099] For the robot node , it can only obtain the distance state from its neighbors . Therefore, the value of can only be . According to the definition, indicates that node is closer to node than . Conversely, if , it indicates that node is closer to node . means that are neighbors of each other, forming a triangular loop .

[0100] According to the loop detection condition, for each robot node , a connectivity relationship set between its neighbor nodes is constructed, and the construction method is as follows:

[0101] For the neighbor node pair of the robot node , where represents all two-by-two combinations selected from the neighbor set , when and only when any of the following conditions is met, the node pair is added to the connectivity relationship set :

[0102] Condition 1: Robot Node They are neighbors, meaning they satisfy the following:

[0103]

[0104] Condition 2: Nodes exist , so that:

[0105]

[0106] therefore,

[0107]

[0108] The upper limit is Its actual size depends on how many pairs of neighbor nodes there are. Either condition 1 or condition 2 is met.

[0109] Each neighbor node Initialize them as independent connected components, meaning each neighbor node forms a separate set, denoted as . .

[0110] Traversing the set of connected relations Each node pair in : Find Node The connected components ; Find nodes The connected components ;like Then and Merge into new connected components and remove the original component from the set. and .

[0111] After all merge operations are completed, the remaining disjoint sets constitute the connected component set. Each element Denotes a maximally connected subset that satisfies the condition for any There is a path through The nodes in the connection and For any and There is no way to pass Path connectivity and .

[0112] Step S30: Based on the set of connectivity relationships and the set of connectivity components, determine whether the current node is a critical node.

[0113] It can be understood that determining whether the current node is a key node refers to determining whether removal of the node will cause the network to split into multiple independent communication blocks by analyzing the connectivity relationship set and the connectivity component set. If removal of the current node will cause the originally connected network to split into multiple independent connectivity components, the node is determined to be a key node. In this way, the application can efficiently and accurately identify the key nodes in the network without global topology information, providing key support for improving the invulnerability and robustness of the multi-robot communication network.

[0114] In a feasible implementation, the step of determining whether the current node is a key node based on the connectivity relationship set and the connectivity component set comprises:

[0115] According to the connectivity relationship set, a neighbor node coverage set of the current node is calculated;

[0116] According to the connectivity component set, a connectivity component subset of the current node is extracted;

[0117] Based on the neighbor node coverage set and the connectivity component subset, whether the current node is a key node is determined according to a preset key node determination condition.

[0118] It should be noted that the neighbor node coverage set refers to a set of nodes that can be covered by the neighbor nodes of the current node, reflecting the distribution and connectivity range of the neighbor nodes in the network. The connectivity component subset refers to a subset of nodes in the connectivity component where the current node is located, reflecting which nodes have a connectivity relationship with the current node. The key node determination condition refers to a specific standard for determining whether a node is a key node.

[0119] It can be understood that the neighbor node coverage set and the connectivity component subset provide comprehensive basis for determining key nodes from the coverage range of the neighbor nodes and the connectivity component where the current node is located. By analyzing these two sets, the importance of the current node in the network can be accurately evaluated.

[0120] It can be understood that the neighbor node coverage set of the current node is first calculated to understand the distribution of the neighbor nodes in the network, and the connectivity component subset of the current node is extracted to determine the connectivity component range where the node is located. Then, according to the key node determination condition, the information of these two sets is combined to accurately determine whether the current node is a key node. This process fully utilizes the information in the connectivity relationship set and the connectivity component set, achieving efficient identification of key nodes and providing strong support for connectivity evaluation and optimization of the network.

[0121] For example, according to the connectivity relationship set , computer robot node a neighbor node coverage set of the computer robot node

[0122]

[0123] extracting and collecting a connected component set of the output , the node is determined to be a non-critical node if and only if the following conditions are met simultaneously:

[0124]

[0125] If any condition is not met, the node is determined to be a critical node.

[0126] In a feasible implementation, after the step of determining whether the current node is a critical node based on the neighbor node coverage set and the connected component subset according to a preset critical node determination condition, the method further comprises:

[0127] performing communication block division on each neighbor node of the current node based on the connected component set to generate a connected communication block;

[0128] if the neighbor node is not covered by the connected communication block, creating a single-node communication block;

[0129] merging the connected communication block and the single-node communication block to obtain an independent communication block set of the current node.

[0130] It should be noted that the communication block refers to an independent communication unit composed of a group of interconnected nodes, and these nodes can exchange information with each other, but there is a communication barrier between the nodes and other communication blocks. The connected communication block refers to dividing the neighbor nodes of the current node into corresponding communication blocks based on the connected relationship determined in the connected component set. The connected component in which these neighbor nodes are located is the connected communication block. The single-node communication block refers to when a certain neighbor node is not covered by any connected communication block, the neighbor node is separately taken as an independent communication block. The independent communication block set refers to the set of communication blocks containing all neighbor nodes of the current node obtained by merging the connected communication block and the single-node communication block.

[0131] It can be understood that the division of the communication block is based on the connected relationship determined in the connected component set, which ensures that each neighbor node is allocated to the corresponding communication block. This process helps to further clarify the connected structure of the network and provides more detailed basis for subsequent network analysis and optimization.

[0132] ​​It can be understood that after determining whether the current node is a key node, further communication block division is performed on the neighbor nodes, which can more clearly show the connectivity distribution of the network. First, each neighbor node is divided based on the set of connected components to generate connected communication blocks. Through the existing connected component information, the accuracy and efficiency of the communication block division are ensured. For neighbor nodes not covered by the connected communication blocks, single-node communication blocks are created to ensure that all nodes are included in the communication block system. Finally, the connected communication blocks and single-node communication blocks are merged to form a set of independent communication blocks, which completely reflects the communication structure of the region where the current node is located, providing basic data for further analysis and optimization of the network.

[0133] Exemplarily, for each neighbor node of the robot node , the neighbor node is classified according to the connected component to which it belongs:

[0134]

[0135] For the uncovered nodes , single-node communication blocks are created:

[0136]

[0137] Finally, a set of independent communication blocks is generated:

[0138]

[0139] In a feasible implementation, the step of determining whether the current node is a key node based on the set of connected relationships and the set of connected components includes:

[0140] If there is a key node connected to the current node among the robot nodes, the preset state vector is updated.

[0141] Based on the state vector and the set of connected relationships, the bi-connectedness state of the network is determined according to a preset bi-connectedness determination condition.

[0142] It should be noted that the state vector refers to a vector used to record and update the connected state between nodes and key node information. The bi-connectedness determination condition refers to a standard for determining whether the network has bi-connectedness, i.e., there are at least two independent paths between any two nodes in the network, so that the network remains connected after removing any single node.

[0143] ​It can be understood that the update of the state vector is the dynamic maintenance of the key node information in the network, ensuring that each node can timely master the connectivity changes of the network. The use of the dual connectivity judgment condition enables the network to self-evaluate its connectivity and invulnerability, providing a basis for network optimization and self-healing.

[0144] It can be understood that after the key node is determined, each node in the network can know the key node information connected with itself through the update of the state vector. Subsequently, according to the dual connectivity judgment condition, the dual connectivity state of the entire network or sub-network can be evaluated by using the state vector and the connectivity relationship set. This process realizes the transition from key node identification to network overall connectivity evaluation, which not only helps to identify the weak link in the network, but also provides decision support for improving the robustness and reliability of the network.

[0145] Exemplarily, the distributed propagation mechanism is used to realize the overall dual connectivity evaluation of the network.

[0146] Each robot node maintains a state vector , where represents the evaluation state of node . When initialized, set . When the robot node completes local key node determination at time , update the state vector as follows:

[0147]

[0148] Subsequently, the state is iteratively propagated through the distributed maximum consensus protocol:

[0149]

[0150] When the network meets the convergence condition , the node evaluates the dual connectivity of the network according to the following rules:

[0151] If , it means that (node is connected with ) and , so it is determined that the network has a key node and is not dual connected; if satisfies , it is determined that the network is dual connected. The determination formula is as follows:

[0152]

[0153] This mechanism realizes the transition from key node identification to network overall connectivity evaluation, which not only helps to identify the weak link in the network, but also provides decision support for improving the robustness and reliability of the network.​ Partial iteration achieves full network state synchronization, and communication only transmits compressed encoding values (of the trinary state), ensuring that the evaluation process is completed under privacy protection conditions.

[0154] The embodiment provides a key node identification method, referring to Figure 2 , the application adopts an iterative communication method based on the maximum consensus protocol, when receiving a key node identification instruction, each robot node starts to steadily promote the iterative acquisition of global node reachability and inter-node shortest path information based on the protocol. With the continuous deepening of the iteration process, when the global node reachability and inter-node shortest path information are successfully converged, a connected relationship set can be constructed according to these accurate information. Subsequently, by using the union-find set algorithm, the neighbor nodes are scientifically classified and integrated according to the connected relationship set, and a clear connected component set is constructed. Based on the connected component set and the connected relationship set, it is determined whether the current node is a key node. Therefore, based on the cooperative use of the maximum consensus protocol and the iterative communication, not only can the global information be efficiently integrated and accurately grasped, but also the real connected relationship between nodes can be determined, and finally the accurate identification of the key node is completed, which significantly improves the accuracy of key node identification and realizes the accurate evaluation of the robustness of the multi-robot communication network.

[0155] Exemplarily, in order to help understand the implementation process of the key node identification method obtained by combining the above embodiment, please refer to Figure 3 , Figure 3 a brief flowchart of a key node identification method is provided, specifically:

[0156] Consider a communication network composed of 10 robots, as shown in Figure 3 , each numbered point represents a robot node, and the connecting edges are represented by solid and dashed lines, indicating that the two nodes can communicate with each other, and the nodes marked by circles are real key nodes (for example, nodes 4, 5, and 7). The removal of any key node will cause the communication network to be divided into multiple unconnected independent communication blocks. In order to verify the effectiveness of the method proposed in the application, the key nodes in the communication network are found by distributed communication and calculation, and compared with the real key nodes, no false positives and no missed detection are achieved. The following takes robot node 5 as an example to explain the implementation process of the application in detail.

[0157] The neighbor set of robot node 5 is . In the initialization stage, node 5 initializes the local reachability vector and the distance vector according to the maximum consensus protocol, where , and the remaining elements are initialized to 0; , the rest of the elements are initialized as . After 10 rounds of communication, the distance vector of node 5 converges to , indicating that the shortest path distance from node 5 to each node has stabilized. In the 11th round of communication, node 5 receives the distance vectors of its neighbor nodes 4, 6, and 7:

[0158]

[0159] The distance difference vector is calculated as:

[0160]

[0161] According to the loop detection condition, node 5 traverses all neighbor pairs :

[0162] For neighbor pair , since , it indicates that nodes 5, 6, and 7 are neighbors forming a loop, so they are added to the connected relationship set ;

[0163] For neighbor pair , all non-neighbor nodes 2, 3, 8, 9, 10} are checked, and no node satisfying and is found, so neighbor pair is not added to set .

[0164] For neighbor pair , all non-neighbor nodes 2, 3, 8, 9, 10} are checked, and no node satisfying and is found, so neighbor pair is not added to set .

[0165] Therefore, the connected relationship set .

[0166] In the independent communication block division phase, node 5 classifies its neighbors into independent communication blocks , indicating that if it fails, the network will split into two subnets (blocks and separate), so node 5 is a critical node. Through the distributed propagation mechanism, node 5 broadcasts its status as a critical node ( ), and the entire network synchronizes the status based on the maximum consensus protocol, ultimately determining that there is a critical node in the network and it is not double-connected.

[0167] It should be noted that the above examples are only used for understanding the present application and do not constitute a limitation on the key node identification method of the present application. More forms of simple transformation based on this technical concept are within the protection scope of the present application.

[0168] The present application also provides a key node identification device, please refer to Figure 4 , the key node identification device comprises:

[0169] The acquisition module 10 is configured to, in response to a key node identification instruction, iteratively acquire global node reachability and inter-node shortest path information based on a maximum consensus protocol.

[0170] The construction module 20 is configured to construct a connected relationship set based on the global node reachability and the inter-node shortest path information, and construct a connected component set according to a union-find set algorithm.

[0171] The determination module 30 is configured to determine whether the current node is a key node based on the connected relationship set and the connected component set.

[0172] And / or, the acquisition module 10 comprises:

[0173] The first acquisition module is configured to communicate with neighbor nodes to acquire the adjacent node reachability state and the adjacent node path distance of the local node and the neighbor nodes.

[0174] The first update module is configured to update the adjacent node reachability state and the adjacent node path distance of the current local node to global reachability state and global distance state between each robot node.

[0175] The second update module is configured to update the global reachability state and the global distance state between each robot node for multiple rounds according to a pre-set iteration number.

[0176] The first determination module is configured to determine global node reachability and inter-node shortest path information between each robot node by converging the global reachability state and the global distance state updated for multiple rounds according to a maximum consensus protocol.

[0177] And / or, the construction module 20 comprises:

[0178] The first adding module is configured to add a neighbor node pair meeting a pre-set connected relationship condition to a pre-established connected relationship set based on the global node reachability and the inter-node shortest path information.

[0179] The first initialization module is configured to initialize each node as an independent connected component.

[0180] The first traversal module is configured to traverse each neighbor node pair in the connectivity relation set, and if a first node in the neighbor node pair corresponds to a first connected component and a second node corresponds to a second connected component, merge the first connected component and the second connected component into a third connected component.

[0181] The first substitution module is configured to substitute the third connected component for the first connected component and the second connected component.

[0182] The first combination module is configured to combine all the connected components into a connected component set after the traversal ends.

[0183] The determination module 30 includes:

[0184] The first calculation module is configured to calculate a neighbor node coverage set of a current node according to the connectivity relation set.

[0185] The first extraction module is configured to extract a connected component subset of the current node according to the connected component set.

[0186] The first determination module is configured to determine whether the current node is a key node according to a preset key node determination condition based on the neighbor node coverage set and the connected component subset.

[0187] The first determination module includes:

[0188] The first division module is configured to perform communication block division on each neighbor node of the current node based on the connected component set, and generate a connected communication block.

[0189] The first creation module is configured to create a single-node communication block if the neighbor node is not covered by the connected communication block.

[0190] The first merging module is configured to merge the connected communication block and the single-node communication block to obtain an independent communication block set of the current node.

[0191] The key node identification device includes:

[0192] The third update module is configured to update a preset state vector if there is a key node in each robot node that is connected to the current node.

[0193] The first determination module is configured to determine a double connectivity state of the network according to a preset double connectivity determination condition based on the state vector and the connectivity relation set.

[0194] The key node identification device provided in the present application adopts the key node identification method in the above embodiments, and can solve the technical problem that the key node cannot be accurately obtained in the distributed communication network. Compared with the prior art, the key node identification device provided in the present application has the same beneficial effects as the key node identification method provided in the above embodiments, and other technical features in the key node identification device are the same as the features disclosed in the above embodiments, which will not be repeated here.

[0195] The present application provides a key node identification device, which comprises at least one processor and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the key node identification method in the above embodiment one.

[0196] Reference will be made to the following description of the drawings Figure 5 which shows a structural schematic diagram of a key node identification device suitable for implementing the embodiments of the present application. The key node identification device in the embodiments of the present application can include, but is not limited to, mobile terminals such as mobile phones, tablet computers, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PMPs (Portable Media Player), vehicle terminals (such as vehicle navigation terminals), and the like, and fixed terminals such as digital televisions, desktop computers, and the like. Figure 5 The key node identification device shown is only an example, and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0197] As Figure 5As shown, the key node identification device can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a read only memory (ROM) 1002 or loaded from a storage device 1003 into a random access memory (RAM) 1004. In the RAM 1004, various programs and data required for the operation of the key node identification device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; the storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the key node identification device to communicate wirelessly or wired with other devices to exchange data. Although the key node identification device with various systems is shown in the figure, it should be understood that all the shown systems are not required to be implemented or possessed. More or less systems can be alternatively implemented or possessed.

[0198] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program codes for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through the communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of the embodiments disclosed in the present application are performed.

[0199] The key node identification device provided in the present application adopts the key node identification method in the above-mentioned embodiments, and can solve the technical problem that the key node cannot be accurately obtained in the distributed communication network. Compared with the prior art, the key node identification device provided in the present application has the same beneficial effects as the key node identification method provided in the above-mentioned embodiments, and other technical features in the key node identification device are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0200] It should be understood that various aspects of the disclosure can be implemented in hardware, software, firmware, or combinations thereof, to achieve the above described results. In the description above, specific terminology has been used to describe particular features, structures, materials or characteristics. Such terminology is used in the descriptive sense and not for purposes of limitation.

[0201] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0202] The present application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e. computer programs) for performing the key node identification method in the above described embodiments.

[0203] The computer readable storage medium provided by the present application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electric connection with one or more conductive wires, a portable computer disk, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM or flash memory), an optical fiber, a portable compact disk read only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), etc., or any suitable combination of the above.

[0204] The above computer readable storage medium can be contained in the key node identification device; or can exist separately without being assembled into the key node identification device.

[0205] The computer readable storage medium carries one or more programs, when the one or more programs are executed by the key node identification device, the key node identification device is caused to: in response to a key node identification instruction, based on a maximum consensus protocol, iteratively obtain global node reachability and inter-node shortest path information;

[0206] Based on the global node reachability and the inter-node shortest path information, a connected relationship set is constructed, and a connected component set is constructed according to a union-find set algorithm;

[0207] Based on the connected relationship set and the connected component set, it is determined whether the current node is a key node.

[0208] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, Smalltalk, C++, or conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0209] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or combinations of hardware and software.

[0210] The modules described in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the names of the modules do not constitute a limitation on the modules themselves.

[0211] The computer readable storage medium provided in the present application is a computer readable storage medium, which stores computer readable program instructions (i.e., a computer program) for executing the key node identification method described above, and can solve the technical problem that the key node cannot be accurately obtained in a distributed communication network. Compared with the prior art, the computer readable storage medium provided in the present application has the same beneficial effects as the key node identification method provided in the above embodiments, and will not be described here.

[0212] The present application also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the key node identification method as described above.

[0213] The computer program product provided in the present application can solve the technical problem that the key node cannot be accurately obtained in a distributed communication network. Compared with the prior art, the computer program product provided in the present application has the same beneficial effects as the key node identification method provided in the above embodiments, and will not be described here.

[0214] The above only describes some embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields based on the technical concept of the present application, and the contents of the present application and the accompanying drawings are included in the patent protection scope of the present application.

Claims

1. A method for identifying key nodes, characterized in that, The method, applied to various robot nodes, includes: In response to the critical node identification command, based on the maximum consensus protocol, iteratively obtain global node reachability and shortest path information between nodes; The steps for iteratively obtaining global node reachability and shortest path information between nodes based on the maximum consensus protocol include: Communicate with neighboring nodes to obtain the reachability status of adjacent nodes and the path distance between adjacent nodes; Update the reachability status of the current local node to the neighboring nodes and the global reachability status and global distance status between each robot node and the path distance to the neighboring nodes; Based on a pre-set number of iterations, the global reachability state and the global distance state are updated multiple times across various robot nodes. According to the maximum consensus protocol, the global reachability state and the global distance state after multiple rounds of updates are converged to determine the global node reachability and shortest path information between each robot node. Based on the global node reachability and the shortest path information between the nodes, a set of connectivity relationships is constructed, and a set of connected components is constructed according to the disjoint-set data structure algorithm; Based on the set of connectivity relationships and the set of connectivity components, determine whether the current node is a critical node.

2. The method as described in claim 1, characterized in that, The steps of constructing a set of connectivity relationships based on the global node reachability and the shortest path information, and constructing a set of connected components according to the disjoint-set data structure algorithm, include: Based on the global node reachability and the shortest path information between the nodes, neighbor node pairs that meet the preset connectivity conditions are added to the pre-established connectivity set. Initialize each node as an independent connected component; Traverse each neighbor node pair in the set of connectivity relationships. If the first connected component corresponding to the first node in the neighbor node pair is inconsistent with the second connected component corresponding to the second node, then merge the first connected component and the second connected component into a third connected component. Replace the first and second connected components with the third connected component; After the traversal is complete, all connected components are combined into a set of connected components.

3. The method as described in claim 1, characterized in that, The step of determining whether the current node is a critical node based on the set of connectivity relationships and the set of connectivity components includes: Based on the set of connectivity relationships, calculate the set of neighboring nodes covered by the current node; Based on the set of connected components, extract a subset of connected components for the current node; Based on the neighbor node coverage set and the connected component subset, determine whether the current node is a critical node according to the preset critical node determination criteria.

4. The method as described in claim 3, characterized in that, The step of determining whether the current node is a critical node based on the neighbor node coverage set and the connected component subset, according to preset critical node determination conditions, includes the following: Based on the set of connected components, each neighboring node of the current node is divided into communication blocks to generate connected communication blocks. If the neighboring node is not covered by the connected communication block, then a single-node communication block is created; Merge the connected communication block with the single-node communication block to obtain the set of independent communication blocks for the current node.

5. The method as described in claim 1, characterized in that, The step of determining whether the current node is a critical node based on the set of connectivity relationships and the set of connectivity components includes: If there are key nodes in each robot node that are connected to the current node, then update the preset state vector; Based on the state vector and the set of connectivity relationships, the bi-connectivity state of the network is determined according to the preset bi-connectivity judgment conditions.

6. A key node identification device, characterized in that, The device includes: The acquisition module is used to respond to key node identification instructions and iteratively acquire global node reachability and shortest path information between nodes based on the maximum consensus protocol. The steps for iteratively obtaining global node reachability and shortest path information between nodes based on the maximum consensus protocol include: Communicate with neighboring nodes to obtain the reachability status of adjacent nodes and the path distance between adjacent nodes; Update the reachability status of the current local node to the neighboring nodes and the global reachability status and global distance status between each robot node and the path distance to the neighboring nodes; Based on a pre-set number of iterations, the global reachability state and the global distance state are updated multiple times across various robot nodes. According to the maximum consensus protocol, the global reachability state and the global distance state after multiple rounds of updates are converged to determine the global node reachability and shortest path information between each robot node. The construction module is used to construct a set of connectivity relationships based on the global node reachability and the shortest path information between the nodes, and to construct a set of connected components according to the disjoint-set data structure algorithm; The determination module is used to determine whether the current node is a critical node based on the set of connectivity relationships and the set of connectivity components.

7. A key node identification device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the critical node identification method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the key node identification method as described in any one of claims 1 to 5.

9. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the critical node identification method as described in any one of claims 1 to 5.

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