Sensor-Driven Mission Synthesis for UAV/UGV Swarms: A TB-CSPN Coordination Architecture with Hardware-Enforced Safety

Excerpt

arXiv:2608.14306v1 Announce Type: new Abstract: This paper presents a coordination architecture for heterogeneous UAV/UGV swarms that synthesises mission actions from uncertain, multi-modal sensor evidence while preserving hardware-enforced safety at the actuation boundary. The approach combines radar, RF, acoustic, and visual observations with Topic-Based Communication Space Petri Net (TB-CSPN) orchestration to support incremental mission formation under partial and evolving information. Consul