# Package Delivery Using Autonomous Drones in Skyways

arXiv: https://arxiv.org/abs/2108.06056 · HTML: https://mlsanity.com/paper/2108.06056/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Aug 2021.

## Built on by (most cited first, 3 of 3)

- [Visual-based Safe Landing for UAVs in Populated Areas: Real-time Validation in Virtual Environments](https://mlsanity.com/paper/2203.13792/) (2022)
- [Heuristic Search for Path Finding with Refuelling](https://mlsanity.com/paper/2309.10796/) (2023)
- [Hybrid Neural Network and Conventional Controller Approach for Robust Control of Highly Unstable Systems: Application to Tilt-Rotor Control](https://mlsanity.com/paper/2606.08714/) (2026)

## Abstract (arXiv)

Current drone delivery systems mostly focus on point-to-point package delivery. We present a multi-stop drone service system to deliver packages anywhere anytime within a specified geographic area. We define a skyway network which takes into account flying regulations, including restricted areas and no-fly zones. The skyway nodes typically represent building rooftops which may act as both recharging stations and delivery destinations. A heuristic-based A* algorithm is used to compute an optimal path from source to destination taking into account a number of constraints, including delivery time, availability of recharging stations, etc. We deploy our drone delivery system in an indoor testbed environment using a 3D model of Sydney CBD. We describe a graphical user interface to monitor the real-time package delivery in the skyway network.