Optimization Methods and Control Theory

Research Article

Comparison of decentralized, centralized, and hybrid interaction structures for a heterogeneous team of unmanned aerial vehicles

Tagir Zabirovich Muslimov

	ITMO University, St. Petersburg, Russia
	Ufa University of Science and Technology, Ufa, Russia
	tagir.muslimov@gmail.com

Abstract. The article discusses the concept of a heterogeneous or polymorphic interacting team of unmanned aerial vehicles (UAVs or drones) to assess the potential for further development of a swarm system based on this approach. Several options for the structure of interaction between individual UAVs in a group are explored: decentralized, centralized, and hybrid architectures. An analysis of control efficiency was based on flight simulations of a UAV formation in accordance with several metrics. As a result, the advantages and disadvantages of each of the studied options for the structure of interaction in a heterogeneous UAV team were identified.

The study was conducted using computer flight simulation with realistic dynamics of individual vehicles. The influence of time delays in communication channels on the quality of the cooperative control system was also considered. The simulation results yielded quantitative metrics reflecting the performance of the coordinated control system for a heterogeneous UAV formation, which were then analyzed. Flight parameter graphs are also provided, allowing conclusions to be drawn about the influence of the interaction structure on the behavior of individual vehicles during operation.

Autonomous heterogeneous groups and swarms of UAVs are a promising area of research that is attracting increasing attention. Such systems have significant advantages over homogeneous UAV teams. This article presents an analysis of the influence of different interaction structure options on the operation of the control system of a heterogeneous UAV group and the flight dynamics of such a formation. The results of the study may be useful for evaluating possible ways of practical implementation of a heterogeneous autonomous UAV swarm. (Linked article texts in English and in Russian).

Keywords: swarm of drones, flocking control, swarm control, swarm robotics, UAV formation, hybrid robot team, Input-to-State Stability (ISS)

MSC-2020 93C85; 93C95, 93-10

Acknowledgments: The work was carried out within the framework of a grant provided under agreement No. 70-2025-000650 dated May 26, 2025, between ITMO University and the National Technology Initiative Projects Support Fund.

For citation: Tagir Z. Muslimov. Comparison of decentralized, centralized, and hybrid interaction structures for a heterogeneous team of unmanned aerial vehicles. Program Systems: Theory and Applications, 2026, 17:2, pp. 3–82. (in Engl. In Russ.). https://psta.psiras.ru/2026/2_3-82.

Full text of bilingual article (PDF): https://psta.psiras.ru/read/psta2026_2_3-82.pdf (Clicking on the flag in the header switches the page language).

The article was submitted 23.09.2025; approved after reviewing 18.03.2026; accepted for publication 01.04.2026; published online 18.04.2026.