Unmanned Aerial Vehicles
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Quantum Machine Learning for Cyber-Physical Anomaly Detection in Unmanned Aerial Vehicles: A Leakage-Free Evaluation with Proxy-Audited Feature Sets
arXiv:2605.19233v2 Announce Type: replace Abstract: Unmanned aerial vehicles (UAVs) are cyber-physical systems whose attack surface spans networked avionics and on-board sensor fusion: a compromised GPS or battery module can mimic a benign mission segment and evade naive anomaly detectors. We present a leakage-free evaluation of quantum machine learning for UAV anomaly detection on the multi-sensor TLM:UAV benchmark. Three contributions support the study.
Trajectory Optimization in Single and Dual-UAV Bearing-Only Target Localization
arXiv:2606.09188v1 Announce Type: new Abstract: Bearing-only target localization is a fundamental problem in optical measurement and finds extensive applications in unmanned aerial vehicle (UAV) technology. Effective trajectory planning establishes favorable observation geometries, thereby enhancing the target localization accuracy of bearing-only UAV systems. This paper proposes an trajectory optimization method for unmanned aerial vehicles (UAVs) in bearing-only target localization scenarios.
AgroOmni: A Large-Scale Multi-view Agricultural Dataset for Cross-Scale Multimodal Reasoning
Announce Type: replace Abstract: Modern agricultural data is sourced from diverse platforms and spans multiple spatial scales, ranging from ground-level close-up photography to Unmanned Aerial Vehicle (UAV) aerial observation and satellite remote sensing imagery. Accordingly, agricultural multimodal reasoning demands robust cross-scale spatial understanding. However, due to the lack of multi-view agricultural benchmark datasets, existing multimodal large language models (MLLMs) exhibit...
Efficient Minimal Solvers for Visual-Inertial Relative Pose Estimation in Multi-Camera Systems
arXiv:2606.09477v1 Announce Type: new Abstract: Estimating the relative poses of multi-camera systems is a fundamental problem in computer vision, with critical applications in autonomous vehicles, mobile devices, and unmanned aerial vehicles (UAVs). However, existing solutions often suffer from high computational complexity or rely on an excessive number of point correspondences, limiting their real-world applicability. To address these limitations, we propose two efficient minimal solvers...
CAMF-Det: Closure-Aware Multimodal Fusion for LiDAR-Camera 3D Object Detection on UAV Platforms
arXiv:2606.09143v1 Announce Type: new Abstract: Multimodal 3D object detection based on LiDAR and cameras has demonstrated excellent performance in ground-vehicle scenarios, but has not been explored for Unmanned Aerial Vehicle (UAV) platforms. In UAV top-down scenes, frequent groundobject occlusion dominated by tree canopies causes spatially varying and modality-dependent information degradation.
Efficient Onboard Vision-Language Inference in UAV-Enabled Low-Altitude Economy Networks via LLM-Enhanced Optimization
arXiv:2510.10028v2 Announce Type: replace Abstract: The rapid advancement of Low-Altitude Economy Networks (LAENets) has enabled a variety of applications, including aerial surveillance, environmental sensing, and semantic data collection. To support these scenarios, unmanned aerial vehicles (UAVs) equipped with onboard vision-language models (VLMs) offer a promising solution for real-time multimodal inference. However, ensuring both inference accuracy and communication efficiency remains a...
A Reproducible UAV-Assisted VANET Dataset Generator for Fragmentation Risk Analysis in Intelligent Transportation Systems
arXiv:2606.01488v1 Announce Type: new Abstract: Vehicular Ad Hoc Networks (VANETs) are a key component of Intelligent Transportation Systems, enabling cooperative communication among vehicles and between vehicles and roadside infrastructure. However, their highly dynamic topology makes them vulnerable to network fragmentation, particularly in highway scenarios, low-density traffic conditions, localized accident zones, and communication-stressed environments. Although Unmanned Aerial Vehicles...
Autonomous Aerial Manipulation via Contextual Contrastive Meta Reinforcement Learning
arXiv:2606.08533v1 Announce Type: new Abstract: Unmanned aerial vehicles (UAVs) are increasingly being deployed in logistics, service robotics, and other real-world applications, creating a growing demand for autonomous payload acquisition and delivery. Existing approaches typically assume pre-attached payloads or rely on specialized grippers, leaving versatile end-to-end aerial delivery largely unresolved, where different payloads induce highly variable flight dynamics, requiring a single...
Towards Precise Intent-Aligned VLA Aerial Navigation via Expert-Guided GRPO
arXiv:2606.02313v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models offer a promising end-to-end paradigm for unmanned aerial vehicles (UAVs) to accomplish complex tasks specified by fine-grained instructions. However, standard supervised fine-tuning (SFT) suffers from data scarcity, limited generalization, and weak supervision for nuanced and complicated human intents.
SkyShield: Occupancy as a Safety Interface for Low-Altitude UAV Autonomy
arXiv:2606.00747v2 Announce Type: replace Abstract: For low-altitude Unmanned Aerial Vehicle (UAV) autonomy, 3D spatial understanding is not merely a perception objective, but the safety interface between human instructions and physical flight. In human-scale urban airspace below 20 meters, thin geometry, occlusions, vegetation, and urban clutter define whether an aerial agent can safely enter the space ahead. However, existing UAV datasets mainly provide 2D annotations or 3D boxes, while...