Abstract: Unmanned aerial vehicles(UAVs) are widely used in the military field due to their low cost and flexible deployment,which are usually carried out in the form of cluster network for cooperative transmission.Because of the broadcasting nature of wireless transmission and the line-of-sight transmission characteristics,UAV swarm is vulnerable to malicious jamming attacks.Moreover,due to the scarcity of spectrum resources,the UAV swarm needs to share the limited spectrum resources,which will introduce severe co-channel interference.Therefore,the problem of cooperative spectrum sharing among UAV swarm is not only threatened by the malicious jamming,but also limited by the mutual interference among UAVs.Specifically,an optimization problem is formulated to maximize the sum rate of UAV swarms in the jamming environment.To improve the effectiveness and reliability of the UAVs’ transmission,this paper proposes a distributed spectrum decision-making method based on the coalition formation game,to deal with the external jamming threats and the internal mutual interference.Thus,the dynamic,efficient and intelligent spectrum control can be realized for the UAV swarm under the jamming threat.Meanwhile,with the help of potential game,the proposed anti-jamming coalition formation game turns out to be able to form the stable alliance grouping,and achieve the Nash equilibrium.

Key words: UAV swarms, Spectrum decision-making, Anti-jamming communications, Cooperative communication, Game theory