A Co-Design Framework for UAV Logistics Infrastructure and Distributed UAV Swarm Scheduling

A Co-Design Framework for UAV Logistics Infrastructure and Distributed UAV Swarm Scheduling | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article A Co-Design Framework for UAV Logistics Infrastructure and Distributed UAV Swarm Scheduling Haoze Gu, Zhixin QI, Zejiao Dong, Abaho G. Gershome This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-9532263/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract In large-scale UAV logistics systems, distributed scheduling has emerged as a key approach to overcoming the scalability limitations of centralized architectures. However, existing studies primarily focus on improving optimization algorithms, while largely overlooking the fundamental constraints imposed by the underlying communication topology. In real urban environments, heterogeneous spatial distributions often lead to poorly connected networks, which in turn become a critical bottleneck limiting distributed coordination efficiency.This paper investigates how communication topology shapes distributed scheduling performance from the perspective of coupling transportation infrastructure and information interaction. Building upon algebraic graph theory and distributed optimization, we establish a quantitative relationship between network connectivity and the convergence rate of cooperative errors, and show that, under construction cost constraints, system performance is subject to an inherent structural upper bound. To address this limitation, we propose a topology optimization method that enhances connectivity under realistic spatial constraints, and further develop a topology-aware distributed scheduling framework that enables joint design of infrastructure and coordination mechanisms.Experiments based on real-world logistics networks demonstrate that modest topology enhancements can accelerate system convergence and reduce scheduling delays under high-load conditions. Ablation studies further confirm that network connectivity plays a key role in determining overall system performance.Overall, this work reveals the mechanism linking transportation infrastructure topology to distributed coordination efficiency, and provides a principled approach to upgrading infrastructure from passive physical assets to active computational topology resources, offering theoretical support for the integration of computing and networking in future intelligent transportation systems. Systems and Networking UAV logistics Multi-Agent System Distributed optimization Alternating Direction Method of Multipliers Spectral graph theory Full Text Additional Declarations The authors declare no competing interests. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-9532263","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":629750752,"identity":"8a8bc022-d138-4ad6-9f1e-7493aabcbcd0","order_by":0,"name":"Haoze Gu","email":"","orcid":"","institution":"Harbin Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Haoze","middleName":"","lastName":"Gu","suffix":""},{"id":629750753,"identity":"abe5716a-6489-407b-aad7-04ebea4997f8","order_by":1,"name":"Zhixin QI","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAvUlEQVRIiWNgGAWjYDACZgY2BoaKAzwgtgQJWs4c4OEhXgsDUAtj2wEG4rXwHWd/9ph33h0Zewbmg7d5GOzyCGqRPMyQbjhz2zOgw9iSrXkYkosJajE4zHBM4uO2w0AtPGbSPAwHEhsIa2Fsk0icA9LC/41YLcxsEh8bwLawEadF8jAbm+SMY0Ath9mMLecYJBPWwnf++DNpnprD9uztzQ9vvKmwI6yF4QCMwQx2J0H1yFpGwSgYBaNgFOACAN2hND2c6cBeAAAAAElFTkSuQmCC","orcid":"","institution":"Harbin Institute of Technology","correspondingAuthor":true,"prefix":"","firstName":"Zhixin","middleName":"","lastName":"QI","suffix":""},{"id":629750754,"identity":"94ffad73-b9cc-4763-be10-784f28e3897f","order_by":2,"name":"Zejiao Dong","email":"","orcid":"","institution":"Harbin Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Zejiao","middleName":"","lastName":"Dong","suffix":""},{"id":629750755,"identity":"0e7dfb84-1adb-42fc-b61f-fc95b7727928","order_by":3,"name":"Abaho G. 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