Decentralized Drone Swarm Coordination via Broadcast-as-Shared-State and Hierarchical Bisection

v1.4 supplemental adds mission-level deterministic coordination artifacts: unknown-building search, entrance discovery, shared obstacle/door mapping, relay sentinels, room exploration, three-drone target extraction, deterministic drone-loss stress mode with wall-degraded relay-gated MAP sharing, and return-to-base. It also packages threat-responsive manifold disclosure materials, including a drone-swarm shield mesh and other defensive counter-geometries. The v1.3 underwater feasibility supplement remains included: acoustic detection-map gossip, acoustic link-budget/capacity accounting, and vertical GPS/acoustic relay localization. Earlier centralized/oracle underwater mission-loop benches remain excluded from the evidentiary base. The base paper presents a decentralized drone-swarm coordination architecture using broadcast-as-shared-state and hierarchical bisection, with formal proofs and empirical validation for assignment, recovery, priority allocation, cooperative localization, search-and-rescue extensions, and benchmarked baselines.