{
  "abstract": "Unmanned aerial vehicle (UAV) swarms deployed in mission-critical applications must simultaneously track a mobile aerial target and maintain reliable data links. However, active integrated sensing and communication (ISAC) operation imposes a dual energy burden on propulsion and transmission, threatening mission continuity through premature battery depletion. In this paper, we propose a two-tier UAV swarm architecture in which mission UAVs (MUAVs) execute cooperative ISAC for mobile aerial target tracking while dedicated charging UAVs (CUAVs), equipped with solar harvesting panels, replenish low-battery MUAVs via aerial UAV-to-UAV wireless power transfer (WPT). We formulate the joint minimization of the cooperative posterior Cramér-Rao bound (PCRB) over MUAV trajectories, per-slot sensing-communication time splits, WPT scheduling and admission, and CUAV rendezvous trajectories, subject to minimum uplink rate, dual-tier energy causality, WPT proximity, collision-avoidance, and speed constraints, yielding a non-convex mixed-integer program (MIP) that, to the best of our knowledge, is the first to jointly couple cooperative ISAC sensing quality with aerial WPT and dual-tier energy management. To solve it efficiently, we propose Receding-Horizon Alternating Optimization (RHAO), a four-block per-slot algorithm that decomposes the problem into: charging admission via the Hungarian algorithm, MUAV trajectory and time-split via successive convex approximation (SCA), CUAV rendezvous, and WPT power allocation, with monotone convergence guarantees. Simulation results demonstrate that RHAO reduces the mean PCRB by 16.8 times over a fixed-time-split baseline and 5.4 times over a static-trajectory scheme, while the aerial WPT subsystem sustains all MUAVs above the energy-critical threshold throughout the full mission horizon.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2609.22292",
  "author_total": 3,
  "authors": [
    {
      "name": "Masoud Shokrnezhad"
    },
    {
      "name": "Tarik Taleb"
    },
    {
      "name": "Amir Javadpour"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/d15ewcvdbwtbg.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2609.22292",
  "fulltext_url": null,
  "id": "d15ewcvdbwtbg",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2609.22292",
  "language": null,
  "licence": "LicenseRef-arXiv-nonexclusive-1.0",
  "licence_label": "arXiv licence",
  "licence_source": "article",
  "licence_url": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "cs.IT"
    ],
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      "arxiv",
      "cs.MA"
    ],
    [
      "arxiv",
      "cs.NI"
    ],
    [
      "arxiv",
      "cs.RO"
    ],
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      "arxiv",
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      "arxiv",
      "math.IT"
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    [
      "openalex",
      "2202|UAV Applications and Optimization"
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  ],
  "openalex": "W7214040606",
  "pdf_url": "https://arxiv.org/pdf/2609.22292",
  "pmcid": null,
  "pmid": null,
  "published": "2026-09-14",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/d15ewcvdbwtbg.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:23:27Z",
      "native_id": "2609.22292",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2609.22292"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.IT",
      "subfield": "general"
    }
  ],
  "title": "Toward Mission-Critical ISAC: Reliable Energy-Aware Coordination in UAV Swarms",
  "title_text": "Toward Mission-Critical ISAC: Reliable Energy-Aware Coordination in UAV Swarms",
  "type": "preprint",
  "updated_at": "2026-10-30T12:23:27Z",
  "url": "https://research.draconitic.com/paper/d15ewcvdbwtbg",
  "venue": "arXiv",
  "versions": []
}