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Cooperative Sensing Enhanced UAV Path-Following and Obstacle Avoidance with Variable Formation
Changheng Wang, Zhiqing Wei, Wangjun Jiang, Haoyue Jiang, Zhiyong Feng
https://arxiv.org/abs/2508.21316

Cooperative Sensing Enhanced UAV Path-Following and Obstacle Avoidance with Variable Formation
The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are essential for safe flight. In this paper, we investigate how to efficiently and accurately achieve path-following, obstacle sensing and avoidance subtasks, as well as their conflict-free fusion scheduling. Firstly, a high precision deep reinforcement learning (…