This paper explores the algorithmic foundations of a decentralized unmanned aerial vehicle swarm coordination system supported by a secure, modular client–server architecture. While the platform ensures scalable control and interoperability, the primary focus lies in the swarm-level algorithms enabling autonomous, fault-tolerant behavior. Central to our approach is the use of rotor-router model with loop reversibility, providing deterministic path planning, and guaranteed task coverage through parallelized agent deployment. To enhance reliability, we integrated a dedicated simulation module into the system, enabling premission swarm behavior emulation. This addition allows for thorough validation of coordination strategies and helps identify potential faults in a controlled environment before real deployment. The simulation capability significantly reduces operational risks and improves the overall effectiveness of task execution in mission-critical scenarios.
Lazyan et al. (2025) studied this question.