A Case Study in Recovery of Drones using Discrete-Event Systems
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866913057953808384 |
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| author | Burns, Liam P. Cavalcanti, Dayse M. Cabral, Felipe G. de Queiroz, Max H. Greeff, Melissa Lima, Publio M. M. Rudie, Karen |
| author_facet | Burns, Liam P. Cavalcanti, Dayse M. Cabral, Felipe G. de Queiroz, Max H. Greeff, Melissa Lima, Publio M. M. Rudie, Karen |
| contents | Discrete-event systems and supervisory control theory provide a rigorous framework for specifying correct-by-construction behavior. However, their practical application to swarm robotics remains largely underexplored. In this paper, we investigate a topological recovery method based on discrete-event-systems within a swarm robotics context. We propose a hybrid architecture that combines a high-level discrete event systems supervisor with a low-level continuous controller, allowing lost drones to safely recover from fault or attack events and re-enter a controlled region. The method is demonstrated using ten simulated UAVs in the py-bullet-drones framework. We show recovery performance across four distinct scenarios, each with varying initial state estimates. Additionally, we introduce a secondary recovery supervisor that manages the regrouping process for a drone after it has re-entered the operational region. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2604_21740 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Case Study in Recovery of Drones using Discrete-Event Systems Burns, Liam P. Cavalcanti, Dayse M. Cabral, Felipe G. de Queiroz, Max H. Greeff, Melissa Lima, Publio M. M. Rudie, Karen Systems and Control Robotics Discrete-event systems and supervisory control theory provide a rigorous framework for specifying correct-by-construction behavior. However, their practical application to swarm robotics remains largely underexplored. In this paper, we investigate a topological recovery method based on discrete-event-systems within a swarm robotics context. We propose a hybrid architecture that combines a high-level discrete event systems supervisor with a low-level continuous controller, allowing lost drones to safely recover from fault or attack events and re-enter a controlled region. The method is demonstrated using ten simulated UAVs in the py-bullet-drones framework. We show recovery performance across four distinct scenarios, each with varying initial state estimates. Additionally, we introduce a secondary recovery supervisor that manages the regrouping process for a drone after it has re-entered the operational region. |
| title | A Case Study in Recovery of Drones using Discrete-Event Systems |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2604.21740 |