SAGELY – Context‑Aware Policy Enforcement for Swarm‑Edge Systems

We present **SAGELY**, a unified framework that brings context‑aware, adaptive policy enforcement to swarm‑edge service applications (SESA). By combining OPA‑based Rego policies, a hybrid centralized/decentralized coordination model, and a pluggable context‑management layer, SAGELY adapts to dynamic changes in UAV swarms, edge nodes, and cloud resources. Our prototype, built on Kubernetes, Istio, and ROS‑2, demonstrates how policy propagation latency scales with policy size and service count, and how packet loss degrades performance on low‑resource UAVs.