@ARTICLE{Lemieszewski2026:i9325,
	author="{Lemieszewski, Łukasz and Becker, Jarosław and Kołaciński, Jan and Ochin, Evgeny}",
	title="{Quasi-Differential GNSS Positioning for Leader-Follower UAV Swarm Control in Humanitarian Demining}",
	year="2026",
	type="artykuł naukowy / referat",
	language="en",
	journal="{Procedia Computer Science}",
	issn="1877-0509",
	volume="292",
	pages="7211--7220",
	doi="10.1016/j.procs.2026.10.292",
	url="https://www.sciencedirect.com/science/article/pii/S1877050926039530",
	keywords="GNSS; quasi-differential GNSS; leader-follower control; UAV swarm; humanitarian demining; mine detection; minefield mapping",
	abstract="{Humanitarian demining is a complex and hazardous process that requires safe and efficient methods for surveying contaminated
areas. The study presents a UAV swarm approach for humanitarian demining based on leader-follower organization and quasi-
differential GNSS positioning. In the proposed concept, the central UAV defines the swarm motion, while the remaining UAVs
maintain a fixed geometric configuration and perform the mission at the same altitude. This approach supports coordinated swarm
motion and relative positioning without the deployment of fixed ground reference stations. In addition, the study proposes a GNSS-
based detection method using a shielded receiver configuration. In this approach, direct GNSS reception is limited by a passive
metal screen, while signals reflected from a metallic object beneath the receiving antenna may introduce deviations in latitude and
longitude values in the recorded NMEA data. A ground-level experiment was conducted to verify the proposed detection method.
Under the applied test conditions, passage above the surrogate target produced coordinate deviations in the recorded NMEA data,
which were used as the primary detection indicator. During target passage, the recorded NMEA data showed a mean coordinate
displacement of approximately 2.43 m and a mean peak displacement of about 4.30 m across the analyzed runs.}",
}