Shared Voxel-Map-Based Cooperative Indoor UAV Guidance with a Multi-Agent Soft Actor-Critic Controller

arXiv:2607.25728v1 Announce Type: new Abstract: 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 ...