Implicit semantic control manifolds for learning-enabled multi-UAV coordination

Abstract

Unmanned aerial vehicle (UAV) swarm agents operating in radio-frequency (RF)-degraded environments require coordination mechanisms that connect directly observable signals to executable responses. This work presents an embodied visual-communication approach in which bio-inspired motion–LED glyphs are represented by a reduced six-parameter semantic chart embedded within a full 24-dimensional hybrid execution manifold. A learned translator large language model (LLM) maps a perceived glyph to a response that is instantiated as an executable trajectory and propagated through closed-loop quadrotor dynamics. The system is evaluated in 200 three-UAV search-and-rescue trials with receiver-specific degradation from sensing range, field of view, occlusion, and relative motion. Under clean observations, the quantized small model and rule-based translator both achieve 100%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$100\%$$\end{document} semantic correctness, but under single- and two-parameter corruption, the quantized small model achieves 64.7%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$64.7\%$$\end{document} and 64.1%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$64.1\%$$\end{document}, compared with 44.8%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$44.8\%$$\end{document} and 35.2%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$35.2\%$$\end{document} for rule-based, while reducing mean multi-agent trajectory error from 2.902m\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$2.902~\textrm{m}$$\end{document} to 0.993m\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$0.993~\textrm{m}$$\end{document}. All methods maintain 100%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$100\%$$\end{document} rotor-allocation and finite-horizon feasibility. The quantized small model also has comparable overall semantic correctness with the large model (83.3%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$83.3\%$$\end{document} vs. 86.3%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$86.3\%$$\end{document}) while dropping latency from 5.115s\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$5.115~\textrm{s}$$\end{document} to 2.789s\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$2.789~\textrm{s}$$\end{document} and is validated onboard a Jetson–Pixhawk UAV platform, where airborne inference and bounded command execution produce measurable physical motion. These results establish a unified pathway from degraded visual observation to semantically meaningful, dynamically grounded UAV coordination.