Communication-Free Collective Navigation for a Swarm of UAVs via LiDAR-Based Deep Reinforcement Learning

Description

This paper presents a deep reinforcement learning (DRL) based controller for collective navigation of unmanned aerial vehicle (UAV) swarms in communication-denied environments, enabling robust operation in complex, obstacle-rich environments. Inspired by biological swarms where informed individuals guide groups without explicit communication, we employ an implicit leader-follower framework. In this paradigm, only the leader possesses goal information, while follower UAVs learn robust policies us

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