{"id":"https://openalex.org/W7154944396","doi":"https://doi.org/10.48550/arxiv.2604.15762","title":"Zero-Shot Scalable Resilience in UAV Swarms: A Decentralized Imitation Learning Framework with Physics-Informed Graph Interactions","display_name":"Zero-Shot Scalable Resilience in UAV Swarms: A Decentralized Imitation Learning Framework with Physics-Informed Graph Interactions","publication_year":2026,"publication_date":"2026-04-17","ids":{"openalex":"https://openalex.org/W7154944396","doi":"https://doi.org/10.48550/arxiv.2604.15762"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.15762","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.15762","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.15762","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134075900","display_name":"Huan Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Lin, Huan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134057493","display_name":"Lianghui Ding","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ding, Lianghui","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5134075900"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.17839999496936798,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.17839999496936798,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.1462000012397766,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.08799999952316284,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.6471999883651733},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6179999709129333},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6071000099182129},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5601000189781189},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.5060999989509583},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.4803999960422516},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.47600001096725464},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.46790000796318054},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.4456000030040741},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.3425999879837036}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6912000179290771},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.6471999883651733},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6179999709129333},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6071000099182129},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5601000189781189},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5497000217437744},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.5060999989509583},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.4803999960422516},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.47600001096725464},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.46790000796318054},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.4456000030040741},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3862999975681305},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.3425999879837036},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.3273000121116638},{"id":"https://openalex.org/C157406716","wikidata":"https://www.wikidata.org/wiki/Q4115842","display_name":"Topological graph theory","level":5,"score":0.32499998807907104},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.3156999945640564},{"id":"https://openalex.org/C55105296","wikidata":"https://www.wikidata.org/wiki/Q841382","display_name":"Interaction network","level":3,"score":0.304500013589859},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3010999858379364},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.29829999804496765},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.29580000042915344},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2953999936580658},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.28940001130104065},{"id":"https://openalex.org/C2983222225","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus algorithm","level":2,"score":0.2824000120162964},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.2773999869823456},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.2734000086784363},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.2685999870300293},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.26460000872612},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.26010000705718994},{"id":"https://openalex.org/C7948225","wikidata":"https://www.wikidata.org/wiki/Q4723998","display_name":"Algebraic connectivity","level":4,"score":0.25360000133514404},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.25270000100135803},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.25130000710487366},{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.2502000033855438},{"id":"https://openalex.org/C2987082051","wikidata":"https://www.wikidata.org/wiki/Q223642","display_name":"Human interaction","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.15762","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.15762","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.15762","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.15762","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Large-scale":[0],"Unmanned":[1],"Aerial":[2],"Vehicle":[3],"(UAV)":[4],"failures":[5],"can":[6],"split":[7],"an":[8],"unmanned":[9],"aerial":[10],"vehicle":[11],"swarm":[12,56],"network":[13,92],"into":[14],"disconnected":[15],"sub-networks,":[16],"making":[17],"decentralized":[18,76],"recovery":[19,25,135,179],"both":[20],"urgent":[21],"and":[22,32,40,58,87,105,133,147,172,183],"difficult.":[23],"Centralized":[24],"methods":[26,44],"depend":[27],"on":[28,158],"global":[29],"topology":[30],"information":[31],"become":[33],"communication-heavy":[34],"after":[35],"severe":[36],"fragmentation.":[37],"Decentralized":[38],"heuristics":[39],"multi-agent":[41],"reinforcement":[42],"learning":[43,126],"are":[45],"easier":[46],"to":[47,93,127,163,167],"deploy,":[48],"but":[49],"their":[50],"performance":[51,175],"often":[52],"degrades":[53],"when":[54],"the":[55,109,151],"scale":[57],"damage":[59],"severity":[60],"vary.":[61],"We":[62],"present":[63],"Physics-informed":[64],"Graph":[65],"Adversarial":[66],"Imitation":[67],"Learning":[68],"algorithm":[69],"(PhyGAIL)":[70],"that":[71],"adopts":[72],"centralized":[73],"training":[74,129],"with":[75,102],"execution.":[77],"PhyGAIL":[78],"builds":[79],"bounded":[80,140,144],"local":[81,96,118,141],"interaction":[82,145],"graphs":[83],"from":[84],"heterogeneous":[85],"observations,":[86],"uses":[88,123],"physics-informed":[89],"graph":[90,142],"neural":[91],"encode":[94],"directional":[95],"interactions":[97],"as":[98],"gated":[99],"message":[100],"passing":[101],"explicit":[103],"attraction":[104],"repulsion.":[106],"This":[107],"gives":[108],"policy":[110,156],"a":[111],"physically":[112],"grounded":[113],"coordination":[114],"bias":[115],"while":[116],"keeping":[117],"observations":[119],"scale-invariant.":[120],"It":[121],"also":[122],"scenario-adaptive":[124],"imitation":[125],"improve":[128],"under":[130],"fragmented":[131],"topologies":[132],"variable-length":[134],"episodes.":[136],"Our":[137],"analysis":[138],"establishes":[139],"amplification,":[143],"dynamics,":[146],"controlled":[148],"variance":[149],"of":[150,165],"terminal":[152],"success":[153],"signal.":[154],"A":[155],"trained":[157],"20-UAV":[159],"swarms":[160,164],"transfers":[161],"directly":[162],"up":[166],"500":[168],"UAVs":[169],"without":[170],"fine-tuning,":[171],"achieves":[173],"better":[174],"across":[176],"reconnection":[177],"reliability,":[178],"speed,":[180],"motion":[181],"safety,":[182],"runtime":[184],"efficiency":[185],"than":[186],"representative":[187],"baselines.":[188]},"counts_by_year":[],"updated_date":"2026-04-21T06:12:34.886580","created_date":"2026-04-21T00:00:00"}
