Abstract
Cooperative perception allows a drone fleet to combine observations from multiple viewpoints. However, existing systems typically fix their feature-sharing policies at design time or adapt to only one context signal. This is a poor fit for aerial fleets, whose missions, bandwidth, formation geometry, and scene coverage can change during flight. We quantify the cost of context-blind sharing on UAV3D by controlling feature exchange at evaluation time using a released DiscoNet checkpoint, without retraining. Mission-aware sharing matches full-sharing accuracy while using only 5-10% of the bytes. The best tested peer selection policy changes with the byte budget, and choosing the wrong policy loses up to 7.7 AP. Moreover, under a constrained budget, two policies with the same full-scene accuracy differ by 5.9 AP within the mission region, showing that multiple context axes must be considered jointly. We therefore propose the context plane, a bounded, structured interface for runtime context. Each drone publishes a descriptor of at most 1 KB at 10 Hz, and lightweight, replaceable policies use the fleet context to decide what each drone computes, shares, and fuses. Existing sharing schemes become fixed policies within this interface. In our ROS 2 prototype on a Jetson AGX Orin, the context plane uses approximately 0.01% of the data-plane bandwidth, and each policy decision takes 0.10 ms. These results show that an explicit context interface can support low-overhead runtime adaptation without modifying or retraining the perception model.
Abstract (translated)
URL
https://arxiv.org/abs/2609.00659
