# Deep Reinforcement Learning based Autonomous Decision-Making for Cooperative UAVs: A Search and Rescue Real World Application

arXiv: https://arxiv.org/abs/2502.20326 · HTML: https://mlsanity.com/paper/2502.20326/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Placed in RL for robot navigation and UAV control, one of 15 directions in Deep reinforcement learning methods.
- Builds on 20 of its 60 references that are in the map.
- First posted on arXiv 27 Feb 2025.

## Placed in

- Deep reinforcement learning methods / [RL for robot navigation and UAV control](https://mlsanity.com/deeprl/rl-for-robot-navigation-and-uav-control/)

## Builds on (most cited first, 20 of 20)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Semi-Supervised Classification with Graph Convolutional Networks](https://mlsanity.com/paper/1609.02907/) (2016)
- [Graph Attention Networks](https://mlsanity.com/paper/1710.10903/) (2017)
- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (2015)
- [Continuous control with deep reinforcement learning](https://mlsanity.com/paper/1509.02971/) (2015)
- [Fast Graph Representation Learning with PyTorch Geometric](https://mlsanity.com/paper/1903.02428/) (2019)
- [Addressing Function Approximation Error in Actor-Critic Methods](https://mlsanity.com/paper/1802.09477/) (2018)
- [Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments](https://mlsanity.com/paper/1706.02275/) (2017)
- [AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles](https://mlsanity.com/paper/1705.05065/) (2017)
- [Leveraging Demonstrations for Deep Reinforcement Learning on Robotics Problems with Sparse Rewards](https://mlsanity.com/paper/1707.08817/) (2017)
- [Multi-Agent Reinforcement Learning Based Resource Allocation for UAV Networks](https://mlsanity.com/paper/1810.10408/) (2018)
- [Multi-Agent Actor-Critic with Hierarchical Graph Attention Network](https://mlsanity.com/paper/1909.12557/) (2019)
- [Robust Adversarial Attacks Detection based on Explainable Deep Reinforcement Learning For UAV Guidance and Planning](https://mlsanity.com/paper/2206.02670/) (2022)
- [Visual SLAM: What are the Current Trends and What to Expect?](https://mlsanity.com/paper/2210.10491/) (2022)
- [GA-DRL: Graph Neural Network-Augmented Deep Reinforcement Learning for DAG Task Scheduling over Dynamic Vehicular Clouds](https://mlsanity.com/paper/2307.00777/) (2023)
- [DL-DRL: A double-level deep reinforcement learning approach for large-scale task scheduling of multi-UAV](https://mlsanity.com/paper/2208.02447/) (2022)
- [Graph Attention Network-based Multi-agent Reinforcement Learning for Slicing Resource Management in Dense Cellular Network](https://mlsanity.com/paper/2108.05063/) (2021)
- [Sim-to-Real Deep Reinforcement Learning based Obstacle Avoidance for UAVs under Measurement Uncertainty](https://mlsanity.com/paper/2303.07243/) (2023)
- [Control of Cooperative Unmanned Aerial Vehicles: Review of Applications, Challenges, and Algorithms](https://mlsanity.com/paper/1908.02789/) (2019)
- [Obstacle Avoidance for UAS in Continuous Action Space Using Deep Reinforcement Learning](https://mlsanity.com/paper/2111.07037/) (2021)

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

- [UAVs Meet Agentic AI: A Multidomain Survey of Autonomous Aerial Intelligence and Agentic UAVs](https://mlsanity.com/paper/2506.08045/) (2025)
- [ESARBench: A Benchmark for Agentic UAV Embodied Search and Rescue](https://mlsanity.com/paper/2605.01371/) (2026)
- [Shared Voxel-Map-Based Cooperative Indoor UAV Guidance with a Multi-Agent Soft Actor-Critic Controller](https://mlsanity.com/paper/2607.25728/) (2026)

## Abstract (arXiv)

This paper presents the first end-to-end framework that combines guidance, navigation, and centralised task allocation for multiple UAVs performing autonomous search-and-rescue (SAR) in GNSS-denied indoor environments. A Twin Delayed Deep Deterministic Policy Gradient controller is trained with an Artificial Potential Field (APF) reward that blends attractive and repulsive potentials with continuous control, accelerating convergence and yielding smoother, safer trajectories than distance-only baselines. Collaborative mission assignment is solved by a deep Graph Attention Network that, at each decision step, reasons over the drone-task graph to produce near-optimal allocations with negligible on-board compute. To arrest the notorious Z-drift of indoor LiDAR-SLAM, we fuse depth-camera altimetry with IMU vertical velocity in a lightweight complementary filter, giving centimetre-level altitude stability without external beacons. The resulting system was deployed on two 1m-class quad-rotors and flight-tested in a cluttered, multi-level disaster mock-up designed for the NATO-Sapience Autonomous Cooperative Drone Competition. Compared with prior DRL guidance that remains largely in simulation, our framework demonstrates an ability to navigate complex indoor environments, securing first place in the 2024 event. These results demonstrate that APF-shaped DRL and GAT-driven cooperation can translate to reliable real-world SAR operations.