Event

Introducing Localization Uncertainty Constraints into GNSS-Denied UAV Swarm Search

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Siyuan Yang and co-authors propose an uncertainty-aware control barrier function (CBF) framework for UAV swarm search in GNSS-denied maritime environments. The framework uses the Fisher information matrix to approximate the cascaded covariance along multi-hop localization chains, and incorporates the covariance model and its rate of change into the constraint margins for connectivity maintenance and collision avoidance, combined with a hierarchical Voronoi target strategy and formation keeping to achieve forward coverage. The authors state that the distributed controller is validated with a standard unbiased extended Kalman filter in the loop, demonstrated across multiple polygon shapes and swarm sizes of 6 to 30 UAVs; one estimator-in-the-loop run completed the search within 302.5 seconds, all 20 Monte Carlo deployments completed with all local QPs feasible and at least 98.97% of UAV frames satisfying the inclusion constraints, and six additional MBZIRC runs provide estimator-in-the-loop evidence. The source code has been made publicly available. The above results are as reported by the authors and have not yet been independently verified.