Confidential-weighted cooperative merging of observations for safe navigation of UAV swarms - Konnikov, Evgenii Aleksandrovich; Golikov, Gleb Igorevich; Polyakov, Prohor Aleksandrovich; Rodionov, Dmitrii Grigor'evich; Sergeev, Dmitrii Anatol'evich; Tihomirov, Anton Fedorovich (Программные системы и вычислительные методы, 2026)