Toward Mission-Critical ISAC: Reliable Energy-Aware Coordination in UAV Swarms

2026-09-14

AI Summary

本文提出了一种双层无人机群架构，通过充电无人机为任务无人机提供无线能量传输，解决了任务关键应用中无人机能量管理问题。

Abstract

Unmanned aerial vehicle (UAV) swarms deployed in mission-critical applications must simultaneously track a mobile aerial target and maintain reliable data links. However, active integrated sensing and communication (ISAC) operation imposes a dual energy burden on propulsion and transmission, threatening mission continuity through premature battery depletion. In this paper, we propose a two-tier UAV swarm architecture in which mission UAVs (MUAVs) execute cooperative ISAC for mobile aerial target tracking while dedicated charging UAVs (CUAVs), equipped with solar harvesting panels, replenish low-battery MUAVs via aerial UAV-to-UAV wireless power transfer (WPT). We formulate the joint minimization of the cooperative posterior Cramér-Rao bound (PCRB) over MUAV trajectories, per-slot sensing-communication time splits, WPT scheduling and admission, and CUAV rendezvous trajectories, subject to minimum uplink rate, dual-tier energy causality, WPT proximity, collision-avoidance, and speed constraints, yielding a non-convex mixed-integer program (MIP) that, to the best of our knowledge, is the first to jointly couple cooperative ISAC sensing quality with aerial WPT and dual-tier energy management. To solve it efficiently, we propose Receding-Horizon Alternating Optimization (RHAO), a four-block per-slot algorithm that decomposes the problem into: charging admission via the Hungarian algorithm, MUAV trajectory and time-split via successive convex approximation (SCA), CUAV rendezvous, and WPT power allocation, with monotone convergence guarantees. Simulation results demonstrate that RHAO reduces the mean PCRB by 16.8 times over a fixed-time-split baseline and 5.4 times over a static-trajectory scheme, while the aerial WPT subsystem sustains all MUAVs above the energy-critical threshold throughout the full mission horizon.

Problem

• UAV swarms
• mission-critical applications
• integrated sensing and communication (ISAC)
• energy burden
• battery depletion

Innovation

• UAV Swarm
• Integrated Sensing and Communication (ISAC)
• Wireless Power Transfer (WPT)
• Receding-Horizon Alternating Optimization (RHAO)
• Cooperative Posterior Cramér-Rao Bound (PCRB)