Resilient Multi-UAV Collaborative Mapping: A Safety-Prioritized Scheduling Framework with Hierarchical Transmission

Multi-UAV collaborative mapping in communication-constrained indoor environments is often hampered by a trade-off between overall map refinement and the timely completion of safety-relevant shared regions. In high-density or unmapped areas, network congestion can delay the updates that matter most for close-proximity coordination, because standard bandwidth allocation does not distinguish between general map refinement and hotspot-related spatial data. To address this issue, we propose a resilient scheduling framework that prioritizes globally useful map updates while improving safety-relevant hotspot completeness under unreliable links. At its core is a Safety Reserve allocation strategy for “hotspot” submaps—areas where UAV trajectories overlap or approach unknown frontiers. By enforcing this reserve, the system directs a limited uplink budget to hotspot-related updates earlier during congestion. To remain useful under packet loss, we implement a prefix-decodable hierarchical data structure over a lightweight stateless protocol, allowing immediate fusion of valid partial updates. The framework identifies hotspots using feedback from a Lambda-Field risk model and a truncated least squares solver with graduated non-convexity (TLS–GNC) pose-graph optimizer. Experiments on S3DIS and ScanNet under partition-based two-agent emulation show that the proposed method improves hotspot-band completeness and progressive mapping quality over the tested baselines, especially under packet loss.