A peer-reviewed paper by Zhang Dong and colleagues, published on May 19 in Acta Aeronautica et Astronautica Sinica, describes an algorithm called **HG-STR**, according to reporting by the South China Morning Post and Interesting Engineering. The paper and coverage report that **HG-STR** builds a heterogeneous spatio-temporal graph to tag objects (friend, foe, terrain) and that simulations achieved a **"100 per cent kill rate"** while operating fast enough for modern combat, per SCMP. Interesting Engineering and SCMP report that the method is designed to operate when communications are jammed and vision is blocked. This development aligns with broader research seeking robustness and relational reasoning for autonomous swarms, but simulated performance does not equate to battlefield effectiveness.