Article

Localization-Uncertainty-Aware UAV Swarm Search for GNSS-Denied Maritime Surveillance

The paper proposes an uncertainty-aware control barrier function (CBF) framework that approximates cascading covariance along multi-hop localization chains using Fisher information matrices, for UAV swarm search in GNSS-denied maritime environments. The framework incorporates the covariance model and its rate of change into constraint margins for connectivity maintenance and collision avoidance, and combines a hierarchical Voronoi target strategy with formation keeping to achieve forward coverage.

Part of the event: Introducing Localization Uncertainty Constraints into GNSS-Denied UAV Swarm Search

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