Open access
Oct 2026
Hierarchical Coordination and HOCBF-Based Safety Filtering for Connectivity-Aware Multi-UAV Navigation
This paper presents a hierarchical coordination and safety-filtering framework for connectivity-aware cooperative multi-UAVnavigation in obstacle-dense corridor environments. The architecture separates low-rate centralized team coordination from high-rate decentralized execution. The centralized layer updates a belief...
Hongryeol Yoon, Suhyeong Yu, Seokwon Lee et al.
· Aerospace · 0 citations