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

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

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 u

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