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TriSAR: Task Coordination and Collision Avoidance for Aerial Robot Teams in Disaster Response

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

Multi-Unmanned Aerial Vehicle (UAV) disaster-response systems require coordinated task assignment and local trajectory control, yet the individual and combined contributions of these coordination layers to mission efficiency and operational safety remain insufficiently characterised under controlled experimental conditions. TriSAR is evaluated as a five-UAV coordination system operating in a physics-based Gazebo simulation of an earthquake-damaged urban environment. A 2 x 2 factorial design compares two task-allocation strategies (Genetic Algorithm and greedy fitness-based allocation) with rea

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