# Maximizing UAV Cellular Connectivity with Reinforcement Learning for BVLoS Path Planning

arXiv: https://arxiv.org/abs/2509.13336 · HTML: https://mlsanity.com/paper/2509.13336/

## Key facts

- No citing papers in the map yet (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 2 of its 15 references that are in the map.
- First posted on arXiv 11 Sep 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, 2 of 2)

- [Unmanned Aerial Vehicles: A Survey on Civil Applications and Key Research Challenges](https://mlsanity.com/paper/1805.00881/) (2018)
- [Path Design for Cellular-Connected UAV with Reinforcement Learning](https://mlsanity.com/paper/1905.03440/) (2019)

## Abstract (arXiv)

This paper presents a reinforcement learning (RL) based approach for path planning of cellular connected unmanned aerial vehicles (UAVs) operating beyond visual line of sight (BVLoS). The objective is to minimize travel distance while maximizing the quality of cellular link connectivity by considering real world aerial coverage constraints and employing an empirical aerial channel model. The proposed solution employs RL techniques to train an agent, using the quality of communication links between the UAV and base stations (BSs) as the reward function. Simulation results demonstrate the effectiveness of the proposed method in training the agent and generating feasible UAV path plans. The proposed approach addresses the challenges due to limitations in UAV cellular communications, highlighting the need for investigations and considerations in this area. The RL algorithm efficiently identifies optimal paths, ensuring maximum connectivity with ground BSs to ensure safe and reliable BVLoS flight operation. Moreover, the solution can be deployed as an offline path planning module that can be integrated into future ground control systems (GCS) for UAV operations, enhancing their capabilities and safety. The method holds potential for complex long range UAV applications, advancing the technology in the field of cellular connected UAV path planning.