Risk-Bounded Certificate Feedback for Allocation-Guided Cooperative Path Planning of Dynamic Multi-UAV Missions

This paper addresses low-altitude navigation of multiple UAVs through a shared two-dimensional environment with narrow passages, blocked cells, and predicted moving obstacles while preserving an assigned task order. The planner receives ordered task bundles from an allocator and checks static obstacles, moving-obstacle timing, sampled minimum inter-UAV separation, deadlines, risk budgets, and an energy proxy. It generates risk-weighted candidate path segments, repairs timing conflicts with waits and local detours, verifies service and terminal occupancy, and returns a certificate that records whether a segment is executable, its total travel cost, risk exposure, and energy proxy, or the reason for failure. We compare no feedback, context no-good, typed-failure, quantitative, and combined feedback under medium-load and high-stress test suites. Quantitative feedback lowers risk per completed task in both suites after correction for multiple comparisons. Failure-type feedback adds no detectable benefit, and completion-rate differences do not remain significant after the same correction. Fixed-bundle simulations show that the proposed planner can preserve scheduled executability while reducing threat exposure relative to a spatiotemporal-priority baseline. Single-UAV flights demonstrate waypoint execution, reference tracking, and avoidance of designated regions.