Engineering Safe Human-Autonomy Teaming in Swarm Drone Simulator Applications Using System-Theoretic Process Analysis extended for Coordination

Abstract

This paper presents a structured safety engineering approach to swarm drone simulator applications using System-Theoretic Process Analysis extended for Coordination (STPA-Coordination). The method is applied to the Valkyrie UAS certification program conducted by the Norwegian Defence Research Establishment, which involved multi-drone missions under dynamic environmental conditions. Observational data revealed coordination challenges such as degraded communication, role ambiguity, and misaligned intent between human operators and autonomous agents. STPA-Coordination was used to model control structures, identify unsafe control actions (UCAs), and generate coordination-related loss scenarios across nine essential elements. To better visualize results, we have included STPA-Coordination analysis and extended on modelling work functions as a network. Design constraints and training interventions were derived to mitigate risks. The integration of STPA-Coordination into simulator-based training enhanced cognitive comprehension and team coordination, supporting safer deployment of autonomous systems in reconnaissance and ISR missions. This work contributes to the Safety Engineering track by demonstrating how system-theoretical safety analysis can be embedded into certification and training workflows to proactively address coordination hazards.