LLM-Assisted Mission Planning, Predictive Coordination, and Adaptive Topology Management for Resilient USV Swarm Control Under Communication Denial

Unmanned surface vehicle (USV) swarms operating in communication-denied maritime environments face degraded formation control when inter-agent state exchange is disrupted. This paper presents a three-layer control architecture integrating (1) LLM-assisted strategic mission planning with formal safety verification, (2) predictive tactical coordination combining physics-based motion extrapolation with online-learned neighbor behavior models, and (3) DMPC + ADMM execution for constrained formation control. The predictive coordination module in simulation-based evaluation across five representative scenarios reduces formation error by 76.0% (under simulation conditions) during 60 s communication outages compared to zero-hold prediction (Cohen d=0.88, p<0.001, DMPC + ADMM validated). The adaptive topology manager dynamically selects among star, mesh, and tree configurations via a utility function balancing communication quality, threat exposure, and overhead, reducing communication overhead by 71.7% (for the particular cases investigated) under the evaluated conditions while maintaining formation accuracy. Stability analysis using multiple Lyapunov functions and average dwell time theory guarantees global uniform exponential stability under topology switching, with explicit error bounds under communication denial derived via Gronwall-type arguments. The framework is validated through 1250 simulation trials across five scenarios with rigorous statistical analysis. The three-layer temporal decoupling architecture provides a practical template for safely integrating LLM-assisted planning with real-time multi-agent control in contested environments.