Offline-first mission caching + RAFT-based peer leader election for drone swarms under EW-degraded

Offline-first mission caching + RAFT-based peer leader election for drone swarms under EW-degraded conditions

A full-stack prototype demonstrating how autonomous drone swarms maintain mission continuity when the operator link is severed by electronic warfare jamming. Built on ROS2 Humble with a real-time web command dashboard.

Election criterion (from SwarmRAFT paper): highest remaining battery wins; ties broken by drone ID descending. The winning drone changes as batteries drain — early in a mission drone_1 wins, later another drone may take over.

Research Basis

SwarmRAFT — Kapel Dev et al., IEEE IoT Journal, 2025
Skolkovo Institute of Science and Technology

Extended for:
EW operator link degradation simulation
Pre-mission offline state caching via ZMQ
Battery drain simulation with dynamic leader rotation
Real-time web command dashboard

Github: https://github.com/kaish114/aerieguard-swarm-resilience

Видео Offline-first mission caching + RAFT-based peer leader election for drone swarms under EW-degraded канала Mohammed Kaish Ansari