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Market-Based Replanning for Safety-Critical UAV Swarms in Search and Rescue Missions

Fulltext:


Authors:

Luiz Giacomossi, Andrea Haglund , Claire Namatovu , Emily Zainali , Esaias Målqvist , Yonatan Beyene , Ivan Tomasic, Baran Çürüklü, Håkan Forsberg

Research groups:

Robotics
Heterogeneous systems - hardware software co-design

Publication Type:

Conference/Workshop Paper

Venue:

MIPRO 2026 - 49th ICT and Electronics Conventions

Publisher:

IEEE

Abstract

Reliable autonomous UAV swarms in Search and Rescue (SAR) missions require fault-tolerant coordination capable of sustaining operations despite agent degradation. This paper introduces the Intelligent Replanning Drone Swarm, a distributed coordination architecture designed for resource-constrained environments. The proposed framework employs a Reverse-Auction market mechanism where agents bid to service search sectors based on a distance-weighted cost function, coupled with a geometric consensus protocol for target verification. We evaluate the approach through physics-based simulations (N = 8 agents, 8×8 grid) subjected to stochastic fault injection. Results indicate that the swarm autonomously reallocates tasks from failed agents with a latency negligible relative to the total mission duration, maintaining a mission success rate of 93% under 25% workforce degradation. The proposed framework demonstrates a robust, empirically validated method for self-healing aerial robotic coordination.

Bibtex

@inproceedings{Giacomossi7398,
author = {Luiz Giacomossi and Andrea Haglund and Claire Namatovu and Emily Zainali and Esaias M{\aa}lqvist and Yonatan Beyene and Ivan Tomasic and Baran {\c{C}}{\"u}r{\"u}kl{\"u} and H{\aa}kan Forsberg},
title = {Market-Based Replanning for Safety-Critical UAV Swarms in Search and Rescue Missions},
month = {May},
year = {2026},
booktitle = {MIPRO 2026 - 49th ICT and Electronics Conventions},
publisher = {IEEE},
url = {http://www.es.mdu.se/publications/7398-}
}