# Taking Flight with Dialogue: Enabling Natural Language Control for PX4-based Drone Agent

arXiv: https://arxiv.org/abs/2506.07509 · HTML: https://mlsanity.com/paper/2506.07509/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Placed in Multimodal and embodied agents, one of 16 directions in LLM agents and tool use.
- Builds on 14 of its 19 references that are in the map.
- First posted on arXiv 9 Jun 2025.

## Placed in

- LLM agents and tool use / [Multimodal and embodied agents](https://mlsanity.com/agents/multimodal-and-embodied-agents/)

## Builds on (most cited first, 14 of 14)

- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Visual Language Maps for Robot Navigation](https://mlsanity.com/paper/2210.05714/) (2022)
- [AerialVLN: Vision-and-Language Navigation for UAVs](https://mlsanity.com/paper/2308.06735/) (2023)
- [Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation](https://mlsanity.com/paper/2408.11812/) (2024)
- [Towards Realistic UAV Vision-Language Navigation: Platform, Benchmark, and Methodology](https://mlsanity.com/paper/2410.07087/) (2024)
- [Aerial Vision-and-Dialog Navigation](https://mlsanity.com/paper/2205.12219/) (2022)
- [UAVs Meet LLMs: Overviews and Perspectives Toward Agentic Low-Altitude Mobility](https://mlsanity.com/paper/2501.02341/) (2025)
- [CityNav: A Large-Scale Dataset for Real-World Aerial Navigation](https://mlsanity.com/paper/2406.14240/) (2024)
- [SayTap: Language to Quadrupedal Locomotion](https://mlsanity.com/paper/2306.07580/) (2023)
- [Large Language Models for UAVs: Current State and Pathways to the Future](https://mlsanity.com/paper/2405.01745/) (2024)
- [AeroVerse: UAV-Agent Benchmark Suite for Simulating, Pre-training, Finetuning, and Evaluating Aerospace Embodied World Models](https://mlsanity.com/paper/2408.15511/) (2024)
- [Enabling Novel Mission Operations and Interactions with ROSA: The Robot Operating System Agent](https://mlsanity.com/paper/2410.06472/) (2024)

## Built on by (most cited first, 4 of 4)

- [APEX: A Decoupled Memory-based Explorer for Asynchronous Aerial Object Goal Navigation](https://mlsanity.com/paper/2602.00551/) (2026)
- [An LLM-Agnostic, MAVLink-Based Drone Command and Control Interface and Agentic Harness Using the Model Context Protocol](https://mlsanity.com/paper/2601.15486/) (2026)
- [RT-SHCUA: Real-Time Self-Hosted Computer-Use Agent for UAV Control](https://mlsanity.com/paper/2607.17951/) (2026)
- [Evaluating Multimodal LLMs as Generalist Vision-Language-Action Agents for Drone Control: Commanding, Approaching, Tracking and Searching](https://mlsanity.com/paper/2609.01404/) (2026)

## Abstract (arXiv)

Recent advances in agentic and physical artificial intelligence (AI) have largely focused on ground-based platforms such as humanoid and wheeled robots, leaving aerial robots relatively underexplored. Meanwhile, state-of-the-art unmanned aerial vehicle (UAV) multimodal vision-language systems typically rely on closed-source models accessible only to well-resourced organizations. To democratize natural language control of autonomous drones, we present an open-source agentic framework that integrates PX4-based flight control, Robot Operating System 2 (ROS 2) middleware, and locally hosted models using Ollama. We evaluate performance both in simulation and on a custom quadcopter platform, benchmarking four large language model (LLM) families for command generation and three vision-language model (VLM) families for scene understanding.