{"paper":{"title":"Shared Voxel-Map-Based Cooperative Indoor UAV Guidance with a Multi-Agent Soft Actor-Critic Controller","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Dylan Wynne, Nabil Aouf, Thomas Hickling, Yu Su","submitted_at":"2026-07-28T13:52:12Z","abstract_excerpt":"This paper presents a cooperative indoor UAV guidance framework that combines a shared voxel-map world model with a multi-agent Soft Actor-Critic (MASAC) controller. Multiple drones fuse 360 LiDAR observations into a common world-frame occupancy map, which is converted into a compact bird's-eye-view (BEV) representation and provided to each agent as an ego-aligned local crop. This integrate-in-world, act-in- ego design enables consistent multi-UAV spatial fusion whilst retaining decentralised continuous control. The policy combines BEV map features, near-field obstacle observations, and compac"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.25728","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/2607.25728/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"}