Distributed Coordination for Resilient Multi-UAV Remote Sensing: A Photovoltaic Inspection Case Study

• URL: http://arxiv.org/abs/2607.24482v1
• Date: Mon, 27 Jul 2026 14:17:48 GMT
• Title: Distributed Coordination for Resilient Multi-UAV Remote Sensing: A Photovoltaic Inspection Case Study
• Abstract summary: deploying multiple UAVs for remote sensing enables proportional reductions in mission time.<n>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.<n>We propose the textbfSLink, an inter-agent communication infrastructure that non-invasively extends any existing aerial framework with peer-to-peer coordination capability.
• Score: 0.0
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• 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.

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