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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Separation Assurance between Heterogeneous Fleets of Smal...
Iman Sharifi, Hyeong Tae Kim, Maheed Hatem Ahmed, Mahsa Ghasemi, · 2026-05-02 · via cs.RO updates on arXiv.org

In the envisioned future dense urban airspace, multiple companies will operate heterogeneous fleets of small unmanned aerial systems (sUASs), where each fleet includes several homogeneous aircraft with identical policies and configurations, e.g., equipage, sensing, and communication ranges, making tactical deconfliction highly complex for the aircraft. This paper aims to address two core questions: (1) Can tactical deconfliction policies converge or reach an equilibrium to ensure a conflict-free airspace when companies operate heterogeneous fleets of homogeneous aircraft? (2) If so, will the converged policies discriminate against companies operating sUASs with weaker configurations? We investigate a multi-agent reinforcement learning paradigm in which homogeneous aircraft within heterogeneous fleets operate concurrently to perform package delivery missions over Dallas, Texas, USA. An attention-enhanced Proximal Policy Optimization-based Advantage Actor-Critic (PPOA2C) framework is employed to resolve intra- and inter-fleet conflicts, with each fleet independently training its own policy while preserving privacy. Experimental results show that two fleets with distinct, shared PPOA2C policies can reach an equilibrium to maintain safe separation. While two PPOA2C policies outperform two strong rule-based baselines in terms of conflict resolution, a PPOA2C policy exhibits safer interaction with a rule-based policy, indicating adaptive capabilities of PPOA2C policies. Furthermore, we conducted extensive policy-configuration evaluations, which reveal that equilibria between similar policy types tend to favor fleets with stronger configurations. Even under similar configurations but different policy types, the equilibrium favors one of the heterogeneous policies, underscoring the need for fairness-aware conflict management in heterogeneous sUAS operations.