Toward Mission-Critical ISAC: Reliable Energy-Aware Coordination in UAV Swarms

Abstract:Unmanned aerial vehicle (UAV) swarms deployed in mission-critical applications must simultaneously track a mobile aerial target and maintain reliable data links. However, active integrated sensing and communication (ISAC) operation imposes a dual energy burden on propulsion and transmission, threatening mission continuity through premature battery depletion. In this paper, we propose a two-tier UAV swarm architecture in which mission UAVs (MUAVs) execute cooperative ISAC for mobile aerial target tracking while dedicated charging UAVs (CUAVs), equipped with solar harvesting panels, replenish low-battery MUAVs via aerial UAV-to-UAV wireless power transfer (WPT). We formulate the joint minimization of the cooperative posterior Cramér-Rao bound (PCRB) over MUAV trajectories, per-slot sensing-communication time splits, WPT scheduling and admission, and CUAV rendezvous trajectories, subject to minimum uplink rate, dual-tier energy causality, WPT proximity, collision-avoidance, and speed constraints, yielding a non-convex mixed-integer program (MIP) that, to the best of our knowledge, is the first to jointly couple cooperative ISAC sensing quality with aerial WPT and dual-tier energy management. To solve it efficiently, we propose Receding-Horizon Alternating Optimization (RHAO), a four-block per-slot algorithm that decomposes the problem into: charging admission via the Hungarian algorithm, MUAV trajectory and time-split via successive convex approximation (SCA), CUAV rendezvous, and WPT power allocation, with monotone convergence guarantees. Simulation results demonstrate that RHAO reduces the mean PCRB by 16.8 times over a fixed-time-split baseline and 5.4 times over a static-trajectory scheme, while the aerial WPT subsystem sustains all MUAVs above the energy-critical threshold throughout the full mission horizon.

Networking and Internet Architecture (cs.NI); Information Theory (cs.IT); Multiagent Systems (cs.MA); Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2609.22292 [cs.NI]

(or arXiv:2609.22292v1 [cs.NI] for this version)

https://doi.org/10.48550/arXiv.2609.22292 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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