Fsdss-548 -

Given B‑connectivity of the communication graph and a token hop budget ( H \geq N \cdot B ), the token belief ( \beta_H ) converges almost surely to the exact posterior ( p(\mathbfx t \mid Z 1:N) ), where ( Z_1:N ) denotes the union of all measurements up to time ( t ).

[ p(z|\bf m) \propto \exp!\left[ -\frac12(\bf m - \bf \mu(z))^!T!\bf C^-1(\bf m - \bf \mu(z)) \right] ] FSDSS-548

: After fusion, ( a_j ) optionally broadcasts a compressed summary (e.g., top‑K particles) to its immediate neighbors, enabling fast local consensus. Given B‑connectivity of the communication graph and a

Figure 3 shows the comparison between spec‑z and photo‑z for the validation set. The swarm executed a coordinated search for a

The swarm executed a coordinated search for a heat‑source mock (a 2 kW heater). Results mirrored simulation: