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decentralized control 1indoor uav guidance 1multi-agent reinforcement learning 1soft actor-critic 1voxel map representation 1

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cs.RO2026

Shared Voxel-Map-Based Cooperative Indoor UAV Guidance with a Multi-Agent Soft Actor-Critic Controller

Thomas Hickling, Dylan Wynne, Yu Su +1

The paper introduces a cooperative indoor UAV navigation system where multiple drones share a voxel‑based occupancy map and use a multi‑agent Soft Actor‑Critic controller to naviga…