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Original Research
Published 19 May 2026
A cognitive synergetic hierarchical framework for UAV swarm combat via speculative inference and role-decoupled reinforcement learning
Lixa Wang · Yunqing Liu · Linyang Guo · Ran Zhang · Yu Cui · Yihan Cui · Chunlin Xu
Frontiers in Neurorobotics
doi 10.3389/fnbot.2026.1799054