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This research addresses the critical need for decentralized coordination in multi-UAV fleets, proposing SwarmLink as an inter-agent communication layer that eliminates single points of failure inherent in centralized ground stations. By implementing a distributed auction mechanism compatible with existing frameworks like Aerostack2, the system enables autonomous recovery from platform failures and data degradation without operator intervention or core software modifications. The study demonstrates how robust peer-to-peer protocols can maintain mission integrity for large-scale photovoltaic inspection campaigns despite dynamic disruptions.
Distributed Coordination for Resilient Multi-UAV Remote Sensing: A Photovoltaic Inspection Case Study
arXiv:2607.24482v1 Announce Type: new Abstract: Deploying multiple UAVs for remote sensing enables proportional reductions in mission time, but realizing these benefits requires the fleet to coordinate at runtime: distributing sensing targets, responding to platform failures, and recovering from degraded data quality. In inspection campaigns, where mission value depends on complete coverage and the usability of every capture, a centralized ground-station coordinator is a single point of failure: a lost link or station fault leaves sensing gaps that cannot be filled without operator intervention. We propose the \textbf{SwarmLink}, an inter-agent communication infrastructure that non-invasively extends any existing aerial framework with peer-to-peer coordination capability, without modifying the host system. We apply it to photovoltaic plant inspection as a representative large-scale sensing campaign, extending Aerostack2 with a distributed auction that unifies initial sensing-target allocation, platform-failure recovery, and data-quality-triggered reassignment into a single runtime mechanism. All three disruption scenarios reduce to the same re-auction over remaining targets and active platforms, requiring zero modifications to the Aerostack2 core and no ground-station involvement during the mission.
Abstract:Deploying multiple UAVs for remote sensing enables proportional reductions in mission time, but realizing these benefits requires the fleet to coordinate at runtime: distributing sensing targets, responding to platform failures, and recovering from degraded data quality. In inspection campaigns, where mission value depends on complete coverage and the usability of every capture, a centralized ground-station coordinator is a single point of failure: a lost link or station fault leaves sensing gaps that cannot be filled without operator intervention. We propose the \textbf{SwarmLink}, an inter-agent communication infrastructure that non-invasively extends any existing aerial framework with peer-to-peer coordination capability, without modifying the host system. We apply it to photovoltaic plant inspection as a representative large-scale sensing campaign, extending Aerostack2 with a distributed auction that unifies initial sensing-target allocation, platform-failure recovery, and data-quality-triggered reassignment into a single runtime mechanism. All three disruption scenarios reduce to the same re-auction over remaining targets and active platforms, requiring zero modifications to the Aerostack2 core and no ground-station involvement during the mission.
Robotics (cs.RO)
arXiv:2607.24482 [cs.RO]
(or arXiv:2607.24482v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.24482 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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