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

• URL: http://arxiv.org/abs/2606.01970v1
• Date: Mon, 01 Jun 2026 09:33:15 GMT
• Title: Market-Based Replanning for Safety-Critical UAV Swarms in Search and Rescue Missions
• Abstract summary: Reliable autonomous UAV swarms in Search and Rescue (SAR) missions require fault-tolerant coordination capable of sustaining operations despite agent degradation.<n>This paper introduces the Intelligent Replanning Drone Swarm (IRDS), a distributed coordination architecture designed for resource-constrained environments.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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.

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