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arXiv · 2604.02786

QuadAgent: A Responsive Agent System for Vision-Language Guided Quadrotor Agile Flight

Ao Zhuang·Feng Yu·Tianbao Zhang·Linzuo Zhang·Danping Zou
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Abstract

We present QuadAgent, a training-free agent system for agile quadrotor flight guided by vision-language inputs. Unlike prior end-to-end or serial agent approaches, QuadAgent decouples high-level reasoning from low-level control using an asynchronous multi-agent architecture: Foreground Workflow Agents handle active tasks and user commands, while Background Agents perform look-ahead reasoning. The system maintains scene memory via the Impression Graph, a lightweight topological map built from sparse keyframes, and ensures safe flight with a vision-based obstacle avoidance network. Simulation results show that QuadAgent outperforms baseline methods in efficiency and responsiveness. Real-world experiments demonstrate that it can interpret complex instructions, reason about its surroundings, and navigate cluttered indoor spaces at speeds up to 5 m/s.

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Ao Zhuang, Feng Yu, Tianbao Zhang, Linzuo Zhang, Danping Zou. 2026-04-03. QuadAgent: A Responsive Agent System for Vision-Language Guided Quadrotor Agile Flight. https://arxiv.org/abs/2604.02786

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