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

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/bdryx5fbbiuwuk538vh6dq2mw
- Original: https://arxiv.org/abs/2610.34873

## Summary

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.