# Spiking Neural Network Actor-Critic Proximal Policy Optimization Control for Autonomous UAV Navigation Through Constrained Openings in Civil Infrastructure and Buildings

arXiv: https://arxiv.org/abs/2609.23643 · HTML: https://mlsanity.com/paper/2609.23643/

## 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 4 of its 17 references that are in the map.
- First posted on arXiv 20 Sep 2026.

## 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, 4 of 4)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Virtual-to-real Deep Reinforcement Learning: Continuous Control of Mobile Robots for Mapless Navigation](https://mlsanity.com/paper/1703.00420/) (2017)
- [Bio-inspired digit recognition using reward-modulated spike-timing-dependent plasticity in deep convolutional networks](https://mlsanity.com/paper/1804.00227/) (2018)
- [UAV-Based Infrastructure Inspections: A Literature Review and Proposed Framework for AEC+FM](https://mlsanity.com/paper/2601.11665/) (2026)

## Abstract (arXiv)

Autonomous navigation of unmanned aerial vehicles in constrained three-dimensional environments has been a challenge in the robotics domain. The application of autonomous unmanned aerial vehicles in civil infrastructure inspection involves the use of such vehicles in bridge inspection, tunnel inspection, and structural inspection. The use of deep reinforcement learning in the autonomous navigation of unmanned aerial vehicles has been successful in constrained environments. However, the computational cost of the algorithm limits the application of the algorithm in the autonomous navigation of unmanned aerial vehicles. This paper proposes the use of the spiking neural network-based Proximal Policy Optimization algorithm in the autonomous navigation of unmanned aerial vehicles in constrained sequential environments. The proposed algorithm integrates the use of spike-based actor-critic reinforcement learning with the Proximal Policy Optimization algorithm. The proposed algorithm uses the stochastic Gaussian policy in the autonomous navigation of unmanned aerial vehicles. The proposed algorithm was implemented in the autonomous navigation of unmanned aerial vehicles in constrained 3D environments. The proposed algorithm was successful in completing 1913 episodes out of more than 3000. The proposed algorithm was successful in passing an average of 2.10 windows per episode. The proposed algorithm was successful in achieving a success rate of 63.77%. The proposed algorithm was successful in achieving success rates of more than 90% in the later stages of the algorithm.