{"id":"https://openalex.org/W4417052612","doi":"https://doi.org/10.1109/lars69345.2025.11273007","title":"Autonomous UAV Flight Navigation in Confined Spaces: A Reinforcement Learning Approach","display_name":"Autonomous UAV Flight Navigation in Confined Spaces: A Reinforcement Learning Approach","publication_year":2025,"publication_date":"2025-10-29","ids":{"openalex":"https://openalex.org/W4417052612","doi":"https://doi.org/10.1109/lars69345.2025.11273007"},"language":null,"primary_location":{"id":"doi:10.1109/lars69345.2025.11273007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars69345.2025.11273007","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 Latin American Robotics Symposium (LARS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2508.16807","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5118867821","display_name":"Marco Soprani Tayar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210092357","display_name":"Institute of Mathematics and Computer Science","ror":"https://ror.org/00fy4at53","country_code":"MD","type":"facility","lineage":["https://openalex.org/I112090838","https://openalex.org/I4210092357"]}],"countries":["MD"],"is_corresponding":false,"raw_author_name":"Marco S. Tayar","raw_affiliation_strings":["University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil","institution_ids":["https://openalex.org/I4210092357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059702695","display_name":"Lu\u00eds Vicente Franco de Oliveira","orcid":"https://orcid.org/0000-0002-3852-9415"},"institutions":[{"id":"https://openalex.org/I4210092357","display_name":"Institute of Mathematics and Computer Science","ror":"https://ror.org/00fy4at53","country_code":"MD","type":"facility","lineage":["https://openalex.org/I112090838","https://openalex.org/I4210092357"]}],"countries":["MD"],"is_corresponding":false,"raw_author_name":"Lucas K. de Oliveira","raw_affiliation_strings":["University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil","institution_ids":["https://openalex.org/I4210092357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093419944","display_name":"Felipe Andrade G. Tommaselli","orcid":"https://orcid.org/0000-0002-9638-4306"},"institutions":[{"id":"https://openalex.org/I4210092357","display_name":"Institute of Mathematics and Computer Science","ror":"https://ror.org/00fy4at53","country_code":"MD","type":"facility","lineage":["https://openalex.org/I112090838","https://openalex.org/I4210092357"]}],"countries":["MD"],"is_corresponding":false,"raw_author_name":"Felipe Andrade G. Tommaselli","raw_affiliation_strings":["University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil","institution_ids":["https://openalex.org/I4210092357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5118867751","display_name":"Juliano Negri","orcid":null},"institutions":[{"id":"https://openalex.org/I4210092357","display_name":"Institute of Mathematics and Computer Science","ror":"https://ror.org/00fy4at53","country_code":"MD","type":"facility","lineage":["https://openalex.org/I112090838","https://openalex.org/I4210092357"]}],"countries":["MD"],"is_corresponding":false,"raw_author_name":"Juliano D. Negri","raw_affiliation_strings":["University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil","institution_ids":["https://openalex.org/I4210092357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119957849","display_name":"Thiago H. Segreto","orcid":null},"institutions":[{"id":"https://openalex.org/I4210092357","display_name":"Institute of Mathematics and Computer Science","ror":"https://ror.org/00fy4at53","country_code":"MD","type":"facility","lineage":["https://openalex.org/I112090838","https://openalex.org/I4210092357"]}],"countries":["MD"],"is_corresponding":false,"raw_author_name":"Thiago H. Segreto","raw_affiliation_strings":["University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil","institution_ids":["https://openalex.org/I4210092357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069925920","display_name":"Ricardo V. Godoy","orcid":"https://orcid.org/0000-0002-5323-9299"},"institutions":[{"id":"https://openalex.org/I4210092357","display_name":"Institute of Mathematics and Computer Science","ror":"https://ror.org/00fy4at53","country_code":"MD","type":"facility","lineage":["https://openalex.org/I112090838","https://openalex.org/I4210092357"]}],"countries":["MD"],"is_corresponding":false,"raw_author_name":"Ricardo V. Godoy","raw_affiliation_strings":["University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil","institution_ids":["https://openalex.org/I4210092357"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002220583","display_name":"Marcelo Becker","orcid":"https://orcid.org/0000-0002-7508-5817"},"institutions":[{"id":"https://openalex.org/I4210092357","display_name":"Institute of Mathematics and Computer Science","ror":"https://ror.org/00fy4at53","country_code":"MD","type":"facility","lineage":["https://openalex.org/I112090838","https://openalex.org/I4210092357"]}],"countries":["MD"],"is_corresponding":false,"raw_author_name":"Marcelo Becker","raw_affiliation_strings":["University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of S&#x00E3;o Paulo,Department of Mechanical Engineering,S&#x00E3;o Carlos,Brazil","institution_ids":["https://openalex.org/I4210092357"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210092357"],"apc_list":null,"apc_paid":null,"fwci":1.2967,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.85404217,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.45500001311302185,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.45500001311302185,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.13950000703334808,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.07360000163316727,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7558000087738037},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6947000026702881},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.5552999973297119},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.39629998803138733},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.2766999900341034}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7558000087738037},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6947000026702881},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.5552999973297119},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5307999849319458},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.499099999666214},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.39629998803138733},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36070001125335693},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35440000891685486},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3296999931335449},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.27959999442100525},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.2766999900341034},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.2599000036716461},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2524000108242035}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lars69345.2025.11273007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars69345.2025.11273007","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 Latin American Robotics Symposium (LARS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2508.16807","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2508.16807","pdf_url":"https://arxiv.org/pdf/2508.16807","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2508.16807","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2508.16807","pdf_url":"https://arxiv.org/pdf/2508.16807","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322468","display_name":"Petrobras","ror":"https://ror.org/0235kyq22"},{"id":"https://openalex.org/F4320323339","display_name":"Universidade de S\u00e3o Paulo","ror":"https://ror.org/036rp1748"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2605102758","https://openalex.org/W2809374586","https://openalex.org/W2911087563","https://openalex.org/W2963184939","https://openalex.org/W2964155710","https://openalex.org/W2982095652","https://openalex.org/W4293220993","https://openalex.org/W4386285856","https://openalex.org/W4386718967","https://openalex.org/W4396910019","https://openalex.org/W4402760898","https://openalex.org/W4407566408","https://openalex.org/W4408182254","https://openalex.org/W4410976438","https://openalex.org/W4411289579"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"UAV":[1],"inspection":[2],"of":[3,161,175],"confined":[4],"industrial":[5],"infrastructure,":[6],"such":[7,30],"as":[8],"ventilation":[9],"ducts,":[10],"demands":[11],"robust":[12],"navigation":[13,156],"policies":[14],"where":[15],"collisions":[16],"are":[17],"unacceptable.":[18],"While":[19],"Deep":[20],"Reinforcement":[21],"Learning":[22],"(DRL)":[23],"offers":[24],"a":[25,34,48,84,107,117,132,137,162],"powerful":[26],"paradigm":[27],"for":[28,51,70,99,153],"developing":[29],"policies,":[31],"it":[32],"presents":[33],"critical":[35],"trade-off":[36,81],"between":[37],"on-policy":[38,60,86,164],"and":[39,54],"off-policy":[40,94,177],"algorithms.":[41],"Off-policy":[42],"methods":[43,61],"promise":[44],"high":[45],"sample":[46,173],"efficiency,":[47],"vital":[49],"trait":[50],"minimizing":[52],"costly":[53],"unsafe":[55],"real-world":[56],"fine-tuning.":[57],"In":[58,126],"contrast,":[59,127],"often":[62],"exhibit":[63],"greater":[64],"training":[65],"stability,":[66],"which":[67],"is":[68],"essential":[69],"reliable":[71,159],"convergence":[72,160],"in":[73,102],"hazard-dense":[74],"environments.":[75],"This":[76,148],"paper":[77],"directly":[78],"investigates":[79],"this":[80],"by":[82],"comparing":[83],"leading":[85],"algorithm,":[87],"Proximal":[88],"Policy":[89],"Optimization":[90],"(PPO),":[91],"against":[92],"an":[93,176],"counterpart,":[95],"Soft":[96],"Actor-Critic":[97],"(SAC),":[98],"precision":[100],"flight":[101],"procedurally":[103],"generated":[104],"ducts":[105],"within":[106],"high-fidelity":[108],"simulator.":[109],"Our":[110],"results":[111],"show":[112],"that":[113,121,140,152],"PPO":[114],"consistently":[115],"learned":[116],"stable,":[118],"collision-free":[119],"policy":[120,139],"completed":[122],"the":[123,143,158,171],"entire":[124],"course.":[125],"SAC":[128],"failed":[129],"to":[130,136],"find":[131],"complete":[133],"solution,":[134],"converging":[135],"suboptimal":[138],"navigated":[141],"only":[142],"initial":[144],"segments":[145],"before":[146],"failure.":[147],"work":[149],"provides":[150],"evidence":[151],"high-precision,":[154],"safety-critical":[155],"tasks,":[157],"well-established":[163],"method":[165],"can":[166],"be":[167],"more":[168],"decisive":[169],"than":[170],"nominal":[172],"efficiency":[174],"algorithm.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-10T07:06:39.071514","created_date":"2025-12-05T00:00:00"}
