# LAPF: LLM-Agent-Based Path Finder Using the UAVScenes Dataset

arXiv: https://arxiv.org/abs/2608.15175 · HTML: https://mlsanity.com/paper/2608.15175/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Multimodal and embodied agents, one of 16 directions in LLM agents and tool use.
- Builds on 17 of its 34 references that are in the map.
- First posted on arXiv 15 Aug 2026.

## Placed in

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

## Builds on (most cited first, 17 of 17)

- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution](https://mlsanity.com/paper/2409.12191/) (2024)
- [A Survey on Multimodal Large Language Models for Autonomous Driving](https://mlsanity.com/paper/2311.12320/) (2023)
- [From LLM Reasoning to Autonomous AI Agents: A Comprehensive Review](https://mlsanity.com/paper/2504.19678/) (2025)
- [Machine Learning-Aided Operations and Communications of Unmanned Aerial Vehicles: A Contemporary Survey](https://mlsanity.com/paper/2211.04324/) (2022)
- [UAVScenes: A Multi-Modal Dataset for UAVs](https://mlsanity.com/paper/2507.22412/) (2025)
- [WirelessAgent: Large Language Model Agents for Intelligent Wireless Networks](https://mlsanity.com/paper/2505.01074/) (2025)
- [AutoFly: Vision-Language-Action Model for UAV Autonomous Navigation in the Wild](https://mlsanity.com/paper/2602.09657/) (2026)
- [LLM-Enabled In-Context Learning for Data Collection Scheduling in UAV-assisted Sensor Networks](https://mlsanity.com/paper/2504.14556/) (2025)
- [From Prompts to Protection: Large Language Model-Enabled In-Context Learning for Smart Public Safety UAV](https://mlsanity.com/paper/2506.02649/) (2025)
- [SE-VLN: A Self-Evolving Vision-Language Navigation Framework Based on Multimodal Large Language Models](https://mlsanity.com/paper/2507.13152/) (2025)
- [WirelessBench: A Tolerance-Aware LLM Agent Benchmark for Wireless Network Intelligence](https://mlsanity.com/paper/2603.21251/) (2026)
- [FRSICL: LLM-Enabled In-Context Learning Flight Resource Allocation for Fresh Data Collection in UAV-Assisted Wildfire Monitoring](https://mlsanity.com/paper/2507.10134/) (2025)
- [Large Language Model-Assisted UAV Operations and Communications: A Multifaceted Survey and Tutorial](https://mlsanity.com/paper/2602.19534/) (2026)
- [UAV-Assisted Space-Air-Ground Integrated Networks: A Technical Review of Recent Learning Algorithms](https://mlsanity.com/paper/2211.14931/) (2022)
- [6GAgentGym: Tool Use, Data Synthesis, and Agentic Learning for Network Management](https://mlsanity.com/paper/2603.29656/) (2026)
- [FreeFly-Thinking : Aligning Chain-of-Thought Reasoning with Continuous UAV Navigation](https://mlsanity.com/paper/2603.07181/) (2026)

## Abstract (arXiv)

Uncrewed aerial vehicles (UAVs) are increasingly deployed for autonomous navigation in complex outdoor environments, where dynamic conditions and mission requirements require intelligent adaptive decision-making. Existing optimization-based, Machine Learning (ML), and Reinforcement Learning (RL) approaches often rely on predefined models or task-specific training, limiting their generalization and adaptability in uncertain scenarios. Recent Large Language Model (LLM)-assisted approaches offer promising reasoning capabilities but remain constrained by limited agentic functionality, including insufficient memory, planning, and tool interaction mechanisms.This paper proposes an LLM-Agent-Based Path Finder (LAPF) framework for autonomous UAV navigation in town-scale outdoor environments. LAPF extends LLM-assisted navigation by integrating perception, memory, planning, and action modules into a closed-loop cognitive architecture. The proposed agent leverages prior navigation experiences, performs Chain-of-Thought (CoT) reasoning, couples each detected hazard to a bounded corrective action, and dynamically refines waypoint decisions based on environmental feedback.The three independent trials per method demonstrate that LAPF achieves mean path lengths of 512.83 m and 506.37 m, compared to the straight-line optimum of 497.33 m, corresponding to path length reductions of 17.2% and 15.6% relative to CoT prompting and absolute path efficiencies of 97.1% and 98.1% in open-field and obstacle-injected scenarios, respectively. Furthermore, LAPF is the only evaluated approach that couples every detected hazard to a bounded, metric-neutral corrective action while maintaining near-goal stability, with zero clamp events in both scenarios, whereas CoT prompting increases from 9.7 to 14.0 events.