UAVs operating in GNSS-denied environments face significant challenges, including maintaining navigation accuracy, avoiding collisions, and ensuring swarm cohesion. These limitations are particularly pronounced in scenarios where traditional centralized control systems or single-leader strategies are employed, as they are prone to single points of failure and lack adaptability to dynamic conditions. To overcome these challenges, we propose a collaborative framework for UAV swarms, lever-aging distributed leader-follower dynamics and reinforcement learning. By enabling UAVs to dynamically share leadership roles and collaborate through cooperative reward structures, the framework enhances swarm cohesion and navigation reliability. Collaboration allows UAVs to effectively compensate for the absence of GNSS signals, improving their ability to navigate, avoid collisions, and maintain formation in complex environments. Simulation results demonstrate the efficacy of the proposed approach, showing up to 56% improvement in navigation performance, ${74\%}$ reduction in collision incidents, and 33% increase in mission success rates compared to existing leader-follower systems. These findings highlight the transformative potential of collaboration in enabling UAV swarms to operate effectively in GNSS-denied scenarios.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Distributed Cooperative UAV Leader-Follower Strategies in GNSS-Denied Environments




    Erscheinungsdatum :

    09.06.2025


    Format / Umfang :

    551570 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Cooperative Navigation for an UAV Tandem in GNSS Denied Environments

    Stoven-Dubois, Alexis / Jospin, Laurent / Cucci, Davide A. | British Library Conference Proceedings | 2018


    Leader-Follower Control and Distributed Communication based UAV Swarm Navigation in GPS-Denied Environment

    Kilic, Fatih / Yang, Huan / Hardt, Wolfram | DataCite | 2023

    Freier Zugriff

    V2X-Based Cooperative Positioning for Connected Vehicles in GNSS- Denied Environments

    Zheng, Shaowu / Xie, Chong / Huang, Ruyi et al. | IEEE | 2023


    GPS-Denied Three Dimensional Leader-Follower Formation Control Using Deep Reinforcement Learning

    Selje, Robert A. / Al-Radaideh, Amer / Dutta, Rajdeep et al. | AIAA | 2022


    GPS-Denied Three Dimensional Leader-Follower Formation Control Using Deep Reinforcement Learning

    Selje, Robert A. / Al-Radaideh, Amer / Dutta, Rajdeep et al. | TIBKAT | 2022