BGC-Nav: Cross-Altitude Multi-UAV Collaborative Navigation via Belief-Guided Coupling

This research presents BGC-Nav, a training-free framework for cross-altitude multi-UAV collaborative navigation. It addresses challenges in aerial search-and-rescue by using belief-guided coupling to enable robust navigation. The high-altitude UAV maintains a global belief memory, while the low-altitude agent uses local memory and advisory biases for decision-making. Experiments on ESARBench show superior performance over existing methods.