# Hierarchical Federated Graph Attention Networks for Scalable and Resilient UAV Collision Avoidance

arXiv: https://arxiv.org/abs/2511.11616 · HTML: https://mlsanity.com/paper/2511.11616/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 2 of its 16 references that are in the map.
- First posted on arXiv 5 Nov 2025.

## Builds on (most cited first, 2 of 2)

- [UAV-assisted Internet of Vehicles: A Framework Empowered by Reinforcement Learning and Blockchain](https://mlsanity.com/paper/2502.15713/) (2025)
- [Multi-Agent Deep Reinforcement Learning for Cooperative Connected Vehicles](https://mlsanity.com/paper/2001.02337/) (2020)

## Built on by (most cited first, 1 of 1)

- [FinInvest-GTCN: Explainable Graph-Temporal-Causal Modeling for Risk-Aware Investment Decision Optimization](https://mlsanity.com/paper/2606.28933/) (2026)

## Abstract (arXiv)

The real-time performance, adversarial resiliency, and privacy preservation are the most important metrics that need to be balanced to practice collision avoidance in large-scale multi-UAV (Unmanned Aerial Vehicle) systems. Current frameworks tend to prescribe monolithic solutions that are not only prohibitively computationally complex with a scaling cost of O(n2) but simply do not offer Byzantine fault tolerance. The proposed hierarchical framework presented in this paper tries to eliminate such trade-offs by stratifying a three-layered architecture. We spread the intelligence into three layers: an immediate collision avoiding local layer running on dense graph attention with latency of <10 ms, a regional layer using sparse attention with O(nk) computational complexity and asynchronous federated learning with coordinate-wise trimmed mean aggregation, and lastly, a global layer using a lightweight Hashgraph-inspired protocol. We have proposed an adaptive differential privacy mechanism, wherein the noise level (ε ∈ [0.1, 1.0]) is dynamically reduced based on an evaluation of the measured real-time threat that in turn maximized the privacy-utility tradeoff. Through the use of Distributed Hash Table (DHT)-based lightweight audit logging instead of heavyweight blockchain consensus, the median cost of getting a 95th percentile decision within 50ms is observed across all tested swarm sizes. This architecture provides a scalable scenario of 500 UAVs with a collision rate of < 2.0% and the Byzantine fault tolerance of f < n/3.