In the random experiment, experimental instances are generated under different number of agents, formation shapes, failure types, and failure ratios. Specifically, the number of agents is 20, 30, 40, and 50 respectively, 5 different formation shapes are randomly generated in the area of 5000 * 5000 * 5000 under the same number of agents, the failure type is link loss, agent loss, and link & agent loss respectively, and the failure ratio explained is 0.05, 0.10, 0.15, 0.20, 0.25, 0.30, 0.35, 0.40, 0.45, and 0.50 respectively. Therefore, the total number of experimental instances is 4×5×3×10 = 600.Specifically in each experimental instance, the initial optimal communication topology without failure is obtained by CTOA-3DPF-LC, both the communication links suffering link loss and the agents suffering agent loss are randomly generated in the initial optimal communication topology, and the new communication topology under failure is obtained by the existing algorithms and ECTOA-3DPF-FC respectively. Under the same failure type, number of agents, and formation shape, the set of failure in experimental instance with higher failure ratio include that with lower failure ratio.

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