{"ID":2921014,"CreatedAt":"2026-06-02T02:42:49.606572591Z","UpdatedAt":"2026-06-04T07:41:34.29888543Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2606.01970","arxiv_id":"2606.01970","title":"Market-Based Replanning for Safety-Critical UAV Swarms in Search and Rescue Missions","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 (IRDS), 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, 8x8 grid) subjected to stochastic fault injection. Results indicate that the swarm autonomously reallocates tasks from failed agents with low latency relative to the total mission duration, maintaining a mission success rate of 93% under 25% workforce degradation. The proposed framework demonstrates a robust, empirically tested method for self-healing aerial robotic coordination.","short_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 (IRDS), a distributed coordination architecture designed for resource-constrained environments....","url_abs":"https://arxiv.org/abs/2606.01970","url_pdf":"https://arxiv.org/pdf/2606.01970v1","authors":"[\"Luiz Giacomossi\",\"Andrea Haglund\",\"Claire Namatovu\",\"Emily Zainali\",\"Esaias Målqvist\",\"Yonatan M. Beyene\",\"Ivan Tomasic\",\"Baran Çürüklü\",\"Håkan Forsberg\"]","published":"2026-06-01T09:33:15Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.MA\",\"eess.SY\"]","methods":"[]","has_code":false}