Got the gist of the drone swarm protocols, and I agree latency is killing us. Push the heavy lifting to the edge—run a lightweight predictive filter on each unit so they only send corrections, not raw streams. Compress the telemetry with a lossless scheme that preserves the key precision metrics. And don’t forget a phased‑out sync: let the swarm settle on a local consensus before pushing bulk data back to the base. That’ll shave milliseconds without skimping on accuracy.