Developed a decentralized framework for resilient and scalable swarm intelligence, focusing on high-fidelity decision-making for autonomous multi-agent systems. Decentralized Consensus Protocol (DCP): Implemented a protocol to ensure collective agreement among agents while maintaining system stability. Byzantine Fault Tolerance (BFT): Engineered outlier rejection mechanisms using Global Error Coefficients ($\epsilon_{global}$) to ensure safety even when individual sensors fail. Physical Intelligence (PI): Integrated mathematical modeling to validate swarm perceptions and execute real-time autonomous actions in complex environments