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3. System Model
3.1 Swarm Topology
Agents: ( \mathcalA = a_1, \dots, a_N ), each equipped with a set of sensors ( S_i = s_i^1, s_i^2, \dots ).
Communication Graph: Undirected ( G_t = (\mathcalA, E_t) ) that may change over time due to mobility or link loss. We assume B‑connectivity: over any window of length ( B ) the union graph is connected.
Summarize the key points made in your essay.
Restate the thesis in light of the discussion.
Offer any concluding remarks, such as future implications or recommendations.
6. Discussion
6.1 Advantages
Scalable Bayesian Fusion – Exact posterior without approximating consensus.
Bandwidth‑Efficiency – Token carries a single compact belief rather than flooding raw measurements.
Graceful Degradation – Token can be re‑issued or duplicated if lost; system still converges.
