{"paper":{"title":"Aerial Inspection Behaviors via RL-based Quadrotor Control for Under-canopy Forest Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","math.OC"],"primary_cat":"cs.RO","authors_text":"Akshit Saradagi, Fausto Mauricio Lagos Suarez, George Nikolakopoulos, Vidya Sumathy, Viswa Narayanan Sankaranarayanan","submitted_at":"2026-05-19T00:09:28Z","abstract_excerpt":"This paper addresses the problem of using a deep Reinforcement Learning (RL)-based low-level Quadrotor controller within an autonomous Quadrotor navigation stack for aerial inspection missions in under-canopy forest environments. Specifically, the article presents an end-to-end (mapping states to RPMs) Quadrotor control policy that achieves inspection view-pose tracking (simultaneous position and yaw reference tracking), which is crucial for various target inspection behaviors and point-to-point navigation in forests. To ensure safe and reliable deployment of the end-to-end RL controller in lo"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.19202","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.19202/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}