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We present ADDSEN middleware as a holistic solution for Adaptive Data processing and dissemination for Drone swarms in urban SENsing. To efficiently process sensed data in the middleware, we have proposed a cyber-physical sensing framework using partially ordered knowledge sharing for distributed knowledge management in drone swarms. A reinforcement learning dissemination strategy is implemented in the framework. ADDSEN uses online learning techniques to adaptively balance the broadcast rate and knowledge loss rate periodically. The learned broadcast rate is adapted by executing state transitions during the process of online learning. A strategy function guides state transitions, incorporating a set of variables to reflect changes in link status. In addition, we design a cooperative dissemination method for the task of balancing storage and energy allocation in drone swarms. We implemented …