TB-CSPN Coordination Architecture for UAV/UGV Swarms with Hardware-Enforced Safety

A recent submission to arXiv (2608.14306) presents a coordination framework designed for diverse UAV/UGV swarms. This architecture formulates mission actions based on uncertain, multi-modal sensor data while ensuring safety through hardware constraints at the actuation boundary. It combines radar, RF, acoustic, and visual inputs with Topic-Based Communication Space Petri Net (TB-CSPN) orchestration to facilitate gradual mission development amid incomplete and changing information. Consultant agents transform sensor data into temporally limited semantic tokens, while supervisor agents manage the authorized and policy-driven release of mission transitions. This division of tasks enhances auditability of decision-making, limits non-determinism in coordination via guards and synchronization, and allows for timely integration of varied evidence, ultimately aiming to bolster resilience against cyber threats in contested settings.