FANET‐Enabled Multidrone Systems: A Modular Hardware‐Algorithm Codesign for Reliable Communication in Dynamic Environments

Flying ad hoc networks (FANETs) provide unmatched communication, coordination, and mission efficacy in multidrone systems that are undertaken in unpredictable, changing environments. However, modern FANET studies treat hardware architecture and routing protocols in isolation to a large extent, thus limiting our understanding of the way physical design decisions, including chassis layout and geometric layout of RF elements, have impacts on network stability in real multi‐unmanned aerial vehicle (UAV) systems. In order to address this gap, the current research suggests a closely copacked modular hardware‐algorithm codesign that implements a customized quadcopter platform into a FANET routing stack, thus enabling an orderly evaluation of the way concrete design choices can be mapped to define network‐level performance indicators. A scalable quadcopter chassis was realized, where the architecture is two‐stage modular, which captures the flight controller, propulsion mechanism, power distribution system, RF front‐end, and vision sensor system. In this hardware base, a FANET architecture was realized based on Heltec LoRa modules, and the location of the antennas was optimized to ensure the link robustness was maximized. Swarm dynamics were mathematically defined in terms of state, target all adjacency and routing matrices, and control laws presented circular (concentric) and figure formations, imposed obstacle‐conscious waypoint vetoing, and added altitude staggering to avoid collision. On‐demand routing maintained an end‐to‐end connected route when the topology was somewhat perturbed in response to dynamic maneuvers. Simulation experiments, both with stationary and dynamical obstacles, showed that link availability, average hop count, and routing performance were all stable and dependable with predictable differences across all formation geometries. Formations that presented a better node density and multipath redundancy were figure‐8 formations, and those that presented a more uniform node latency were circular formations. All these findings support the fact that the proposed codesign paradigm can bring out a robust and flexible multi‐UAV FANET that can support strong communication in the cluttered operation theaters and customization that is mission oriented.