A Phase-Recursive Geometric Framework for Multi-Agent Navigation Under GNSS Denial: A Reproducible Simulation Study

Preprint (not peer-reviewed). Introduces and evaluates the Bouras 4D Geometry Method (B4DGM), a phase-recursive geometric framework that represents navigation state as a bounded geometric phase and seeks to maintain bounded drift growth and inter-agent coherence under GNSS denial, without an external position reference. Evaluated against four classical baselines (pure inertial, dead reckoning, EKF, particle filter) across eight adversarial scenarios in a reproducible, seed-controlled, Monte-Carlo simulation. Conservative framing: no claim of universal raw-accuracy superiority; the scenarios in which classical estimators achieve lower raw error are reported explicitly. One-dimensional, simulation-only proof of concept; limitations stated in full.