{"id":"https://openalex.org/W7225414181","doi":"https://doi.org/10.21203/rs.3.rs-11485152/v1","title":"Role Partitioned Swarm Intelligence for Resilient UAV Coordination in Contested Electromagnetic Environments: A Soccer Field Swarm Formation Framework","display_name":"Role Partitioned Swarm Intelligence for Resilient UAV Coordination in Contested Electromagnetic Environments: A Soccer Field Swarm Formation Framework","publication_year":2026,"publication_date":"2026-11-06","ids":{"openalex":"https://openalex.org/W7225414181","doi":"https://doi.org/10.21203/rs.3.rs-11485152/v1"},"language":"en","primary_location":{"id":"doi:10.21203/rs.3.rs-11485152/v1","doi":"https://doi.org/10.21203/rs.3.rs-11485152/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-11485152/v1","pdf_url":"https://www.researchsquare.com/article/rs-11485152/latest.pdf","source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.researchsquare.com/article/rs-11485152/latest.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5140943946","display_name":"Mohamed Hijazy Shazin Hassan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I100887729","display_name":"Andhra University","ror":"https://ror.org/049skhf47","country_code":"IN","type":"education","lineage":["https://openalex.org/I100887729"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Mohamed Hijazy Shazin Hassan","raw_affiliation_strings":["Andhra University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Andhra University","institution_ids":["https://openalex.org/I100887729"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161033529","display_name":"Bobbadi Jaswanth Kumar","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I100887729","display_name":"Andhra University","ror":"https://ror.org/049skhf47","country_code":"IN","type":"education","lineage":["https://openalex.org/I100887729"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Bobbadi Jaswanth Kumar","raw_affiliation_strings":["Andhra University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Andhra University","institution_ids":["https://openalex.org/I100887729"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137969895","display_name":"Neeraj Sree Mailee Dudaboyina","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I100887729","display_name":"Andhra University","ror":"https://ror.org/049skhf47","country_code":"IN","type":"education","lineage":["https://openalex.org/I100887729"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Neeraj Sree Mailee Dudaboyina","raw_affiliation_strings":["Andhra University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Andhra University","institution_ids":["https://openalex.org/I100887729"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069047721","display_name":"Giri Raja Sekhar Gunnu","orcid":"https://orcid.org/0000-0002-0594-8242","observed_orcids":["https://orcid.org/0000-0002-0594-8242"]},"institutions":[{"id":"https://openalex.org/I100887729","display_name":"Andhra University","ror":"https://ror.org/049skhf47","country_code":"IN","type":"education","lineage":["https://openalex.org/I100887729"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Giri Raja Sekhar Gunnu","raw_affiliation_strings":["Andhra University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Andhra University","institution_ids":["https://openalex.org/I100887729"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101962394","display_name":"Kuda Nageswara Rao","orcid":"https://orcid.org/0009-0009-5773-6311","observed_orcids":["https://orcid.org/0009-0009-5773-6311"]},"institutions":[{"id":"https://openalex.org/I100887729","display_name":"Andhra University","ror":"https://ror.org/049skhf47","country_code":"IN","type":"education","lineage":["https://openalex.org/I100887729"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Kuda Nageswara Rao","raw_affiliation_strings":["Andhra University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Andhra University","institution_ids":["https://openalex.org/I100887729"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I100887729"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.011699999682605267,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0012000000569969416,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/uav-swarms","display_name":"UAV swarms","score":0.8479999899864197},{"id":"https://openalex.org/keywords/swarm-formation","display_name":"swarm formation","score":0.6589999794960022},{"id":"https://openalex.org/keywords/communication-degradation","display_name":"communication degradation","score":0.5559999942779541},{"id":"https://openalex.org/keywords/electronic-warfare","display_name":"electronic warfare","score":0.7390000224113464},{"id":"https://openalex.org/keywords/asset-protection","display_name":"asset protection","score":0.6840000152587891},{"id":"https://openalex.org/keywords/artificial-potential-field","display_name":"artificial potential field","score":0.7559999823570251},{"id":"https://openalex.org/keywords/control-barrier-functions","display_name":"control barrier functions","score":0.9480000138282776},{"id":"https://openalex.org/keywords/covariance-intersection","display_name":"covariance intersection","score":0.6190000176429749},{"id":"https://openalex.org/keywords/decentralized-estimation","display_name":"decentralized estimation","score":0.6909999847412109},{"id":"https://openalex.org/keywords/switched-systems","display_name":"switched systems","score":0.6480000019073486},{"id":"https://openalex.org/keywords/packet-loss","display_name":"packet loss","score":0.6549999713897705},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.41600000858306885},{"id":"https://openalex.org/keywords/software-in-the-loop","display_name":"software-in-the-loop simulation","score":0.6240000128746033}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6753000020980835},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5131999850273132},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.5062000155448914},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.49639999866485596},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4925999939441681},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.4909000098705292},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.45399999618530273},{"id":"https://openalex.org/C61270487","wikidata":"https://www.wikidata.org/wiki/Q476843","display_name":"Interception","level":2,"score":0.4528000056743622},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.44440001249313354},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.43939998745918274},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4244999885559082},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.4196999967098236},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.39899998903274536},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3878999948501587},{"id":"https://openalex.org/C76178495","wikidata":"https://www.wikidata.org/wiki/Q4808784","display_name":"Asset (computer security)","level":2,"score":0.3693999946117401},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36880001425743103},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3571999967098236},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3334999978542328},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.326200008392334},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31940001249313354},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.3037000000476837},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.29649999737739563},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.2937999963760376},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2913999855518341},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.29089999198913574},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.263700008392334},{"id":"https://openalex.org/C2777047555","wikidata":"https://www.wikidata.org/wiki/Q17085041","display_name":"Terminal guidance","level":3,"score":0.25690001249313354},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.2549000084400177}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.21203/rs.3.rs-11485152/v1","doi":"https://doi.org/10.21203/rs.3.rs-11485152/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-11485152/v1","pdf_url":"https://www.researchsquare.com/article/rs-11485152/latest.pdf","source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"}],"best_oa_location":{"id":"doi:10.21203/rs.3.rs-11485152/v1","doi":"https://doi.org/10.21203/rs.3.rs-11485152/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-11485152/v1","pdf_url":"https://www.researchsquare.com/article/rs-11485152/latest.pdf","source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.5378999710083008,"display_name":"Industry, innovation and infrastructure"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7225414181.pdf","grobid_xml":"https://content.openalex.org/works/W7225414181.grobid-xml"},"referenced_works_count":8,"referenced_works":["https://openalex.org/W3139299598","https://openalex.org/W4408223160","https://openalex.org/W4414310359","https://openalex.org/W4414538553","https://openalex.org/W4416010502","https://openalex.org/W7122456021","https://openalex.org/W7154564735","https://openalex.org/W7161626285"],"related_works":["https://openalex.org/W7204841926","https://openalex.org/W7203598431","https://openalex.org/W7172400777","https://openalex.org/W7164003423","https://openalex.org/W7207814697","https://openalex.org/W7151590951","https://openalex.org/W3156544154","https://openalex.org/W7128467154","https://openalex.org/W3087000716","https://openalex.org/W7168026136"],"abstract_inverted_index":{"Abstract":[0],"Autonomous":[1],"unmanned":[2],"aerial":[3],"vehicle":[4],"(UAV)":[5],"swarms":[6],"must":[7],"coordinate":[8],"asset":[9,48],"protection,":[10],"threat":[11],"interception,":[12],"and":[13,30,44,51,53,84,93,107,133,159,166,182,187],"collision":[14],"avoidance":[15],"even":[16],"when":[17],"electronic":[18],"warfare":[19],"degrades":[20],"inter-agent":[21],"communication.":[22],"This":[23],"paper":[24],"presents":[25],"Role-Partitioned":[26],"Swarm":[27,34],"Intelligence":[28],"(RPSI)":[29],"its":[31],"Soccer":[32],"Field":[33],"Formation":[35],"(SFSF)":[36],"implementation,":[37],"which":[38],"organise":[39],"agents":[40],"into":[41],"Defender,":[42],"Midfielder,":[43],"Forward":[45],"roles":[46],"for":[47,67,128],"shielding,":[49],"interception":[50],"relay,":[52],"outer-layer":[54],"engagement.":[55],"The":[56],"proposed":[57],"architecture":[58],"combines":[59],"rigid-body":[60],"dynamics":[61],"on":[62],"SE(3),":[63],"Covariance":[64],"Intersection":[65],"(CI)":[66],"distributed":[68,129],"estimation,":[69],"role-conditioned":[70],"artificial":[71],"potential":[72],"fields,":[73],"a":[74,85],"decentralised":[75],"High-Order":[76],"Control":[77],"Barrier":[78],"Function":[79],"(HO-CBF)":[80],"quadratic-program":[81],"safety":[82],"filter,":[83],"communication-health-triggered":[86],"resilience":[87],"mode":[88],"that":[89],"freezes":[90],"role":[91],"assignments":[92],"continues":[94],"with":[95,126,141],"local":[96],"sensing.":[97],"A":[98],"dwell-time-constrained":[99],"switched-system":[100],"analysis":[101],"is":[102],"provided":[103],"under":[104,122,137],"stated":[105],"feasibility":[106],"bounded-switching":[108],"assumptions.":[109],"In":[110,145],"the":[111,138,146,153,192],"PX4-based":[112],"Software-in-the-Loop":[113],"(SITL)":[114],"evaluation,":[115],"RPSI-SFSF":[116],"achieved":[117],"92.7%":[118],"asset-protection":[119],"effectiveness":[120],"(APE)":[121],"nominal":[123],"communication,":[124],"compared":[125],"86.1%":[127],"model":[130],"predictive":[131],"control,":[132],"79.8%":[134],"versus":[135],"57.6%":[136],"C5":[139],"condition":[140],"0%":[142,167],"packet":[143,170],"availability.":[144],"120-run":[147],"reduced-order":[148],"packet-drop":[149],"experiment,":[150],"RPSI":[151],"exceeded":[152],"homogeneous":[154],"controller":[155],"by":[156],"8.75,":[157],"3.75,":[158],"23.75":[160],"percentage":[161],"points":[162],"at":[163,185],"100%,":[164],"50%,":[165],"target-state":[168],"update":[169],"delivery,":[171],"respectively.":[172],"Across-run":[173],"standard":[174],"deviations":[175],"ranged":[176],"from":[177],"10.26":[178],"to":[179],"20.32":[180],"points,":[181],"some":[183],"runs":[184],"100%":[186],"50%":[188],"delivery":[189],"fell":[190],"below":[191],"5.0":[193],"m":[194],"design":[195],"threshold.":[196]},"counts_by_year":[],"updated_date":"2026-11-09T13:22:03.289127","created_date":"2026-11-07T00:00:00"}
