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arXiv · 2405.12681

A Multimodal Learning-based Approach for Autonomous Landing of UAV

Francisco Neves·Luís Branco·Maria Pereira·Rafael Claro·Andry Pinto
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Abstract

In the field of autonomous Unmanned Aerial Vehicles (UAVs) landing, conventional approaches fall short in delivering not only the required precision but also the resilience against environmental disturbances. Yet, learning-based algorithms can offer promising solutions by leveraging their ability to learn the intelligent behaviour from data. On one hand, this paper introduces a novel multimodal transformer-based Deep Learning detector, that can provide reliable positioning for precise autonomous landing. It surpasses standard approaches by addressing individual sensor limitations, achieving high reliability even in diverse weather and sensor failure conditions. It was rigorously validated across varying environments, achieving optimal true positive rates and average precisions of up to 90%. On the other hand, it is proposed a Reinforcement Learning (RL) decision-making model, based on a Deep Q-Network (DQN) rationale. Initially trained in sumlation, its adaptive behaviour is successfully transferred and validated in a real outdoor scenario. Furthermore, this approach demonstrates rapid inference times of approximately 5ms, validating its applicability on edge devices.

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Francisco Neves, Luís Branco, Maria Pereira, Rafael Claro, Andry Pinto. 2024-05-21. A Multimodal Learning-based Approach for Autonomous Landing of UAV. https://arxiv.org/abs/2405.12681

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