发表机构
Institute for Software Technology, University of the Bundeswehr Munich; Department of Computer Science, Sapienza University of Rome; SofTware And Knowledge Engineering Lab（慕尼黑联邦国防军大学软件技术研究所; 罗马大学计算机科学系; 软件与知识工程实验室）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种具备硬件强制安全保障的TB-CSPN协同架构，用于异构无人机/无人车集群，结合多模态传感器观测，通过顾问与监督智能体实现可审计的决策路径，提升对抗环境下的韧性，经沿海监视案例验证其有效性。
AI 中文摘要
本文提出一种面向异构无人机/无人车集群的协同架构，该架构基于不确定的多模态传感器证据合成任务动作，同时在执行边界保留硬件强制安全保障。该方法将雷达、射频、声学及视觉观测与基于主题的通信空间佩特里网（TB-CSPN）编排相结合，以支持在部分且不断演变的信息下的增量任务形成。顾问智能体将传感器输出转换为时间受限的语义令牌，而监督智能体则提供授权和策略管控的任务转换释放。这种解释、协同与执行的分离可产生可审计的决策路径，通过保护和同步将非确定性限制在协同层内，并支持异构证据的有界时间整合。为提升对抗环境（包括网络入侵、欺骗、干扰及通信丢失）下的韧性，数字协同层由独立的模拟安全包络补充，该包络可钳制或否决发送给单个车辆的不安全执行器指令。沿海监视案例研究表明，所提架构可在操作不确定性下实现可靠、受管控且物理安全的集群协同。
英文摘要
This paper presents a coordination architecture for heterogeneous UAV/UGV swarms that synthesises mission actions from uncertain, multi-modal sensor evidence while preserving hardware-enforced safety at the actuation boundary. The approach combines radar, RF, acoustic, and visual observations with Topic-Based Communication Space Petri Net (TB-CSPN) orchestration to support incremental mission formation under partial and evolving information. Consultant agents transform sensor outputs into temporally bounded semantic tokens, while supervisor agents provide authorisation and policy-governed release of mission transitions. This separation between interpretation, coordination, and execution yields auditable decision paths, constrains non-determinism within the coordination layer through guards and synchronisation, and enables bounded-time integration of heterogeneous evidence. To improve resilience in contested environments, including cyber compromise, spoofing, jamming, and communication loss, the digital coordination layer is complemented by independent analogue safety envelopes that clamp or veto unsafe actuator commands issued to individual vehicles. A coastal-surveillance case study illustrates how the proposed architecture enables dependable, governed, and physically safe swarm coordination under operational uncertainty.
Comments15 pages, 4 figures
