Mathematical consensus mechanisms enabling hundreds of unmanned ground robots to maintain unified tactical awareness and task distribution without centralized masters.
UGVSwarm leverages asynchronous Byzantine Fault Tolerant (aBFT) algorithms customized for high-loss mobile mesh links. Nodes continuously exchange signed state vectors, converging on tactical goals even when up to one-third of the fleet is compromised or disabled.
If a designated point scout or communication relay node is neutralized, neighboring UGVs instantly recompute optimal fleet assignments using distributed Hungarian matching, closing coverage gaps within 200 milliseconds.