Shared Voxel-Map-Based Cooperative Indoor UAV Guidance with a Multi-Agent Soft Actor-Critic Controller
This paper presents a cooperative indoor UAV guidance framework that combines a shared voxel-map world model with a multi-agent Soft Actor-Critic (MASAC) controller. Multiple drones fuse 360 LiDAR observations into a common world-frame occupancy map, which is converted into a compact bird's-eye-view (BEV) representation and provided to each agent as an ego-aligned local crop. This integrate-in-world, act-in- ego design enables consistent multi-UAV spatial fusion whilst retaining decentralised continuous control. The policy combines BEV map features, near-field obstacle observations, and compact goal and peer-state information within a centralised-training, decentralised-execution framewor...
| Authors | Thomas Hickling, Dylan Wynne, Yu Su et al. |
|---|---|
| Primary category | cs.RO |
| Published | 28 July 2026 |
| Last updated at source | 28 July 2026 |
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