Resilience of UAV Swarms in GNSS-Denied Environments: A Complex Adaptive Systems Perspective
L. Chen, J. Smith, A. Kumar
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2025.
This paper presents a novel decentralized topology control mechanism for UAV swarms. By modeling the swarm as a Complex Adaptive System, we demonstrate that dynamically adjusting communication radii based on local density metrics significantly increases the swarm's resilience to sudden node dropouts in urban canyons where GNSS signals are severely degraded.
@inproceedings{chen2025resilience,
title={Resilience of UAV Swarms in GNSS-Denied Environments: A Complex Adaptive Systems Perspective},
author={Chen, L. and Smith, J. and Kumar, A.},
booktitle={Proceedings of the IEEE ICRA},
year={2025}
}