Reinforcement learning (RL) has shown promise in a large number of robotic control tasks. Nevertheless, its deployment on unmanned aerial vehicles (UAVs) remains challenging, mainly because of reliance on accurate dynamic models and platform-specific sensing, which hinders cross-platform transfer. This paper presents the CORB-Planner (Corridor-as-Observations for RL B-spline planner), a real-time, RL-based trajectory planning framework for high-speed autonomous UAV flight across heterogeneous platforms. The key idea is to combine B-spline trajectory generation with the RL policy producing successive control points with a compact safe flight corridor (SFC) representation obtained via heuristic search. The SFC abstracts obstacle information in a low-dimensional form, mitigating overfitting to platform-specific details and reducing sensitivity to model inaccuracies. To narrow the sim-to-real gap, we adopt an easy-to-hard progressive training pipeline in simulation. A value-based soft decomposed-critic Q (SDCQ) algorithm is used to learn effective policies within approximately ten minutes of training. Benchmarks in simulation and real-world tests demonstrate real-time planning on lightweight onboard hardware and support maximum flight speeds up to 8.2m/s in dense, cluttered environments without external positioning. Compatibility with various UAV configurations (quadrotors, hexarotors) and modest onboard compute underlines the generality and robustness of CORB-Planner for practical deployment.

Abstract--This paper presents an agent-based simulation model for coordinating battery recharging in drone swarms, focusing on applications in Internet of Things (IoT) and Industry 4.0 environments. The proposed model includes a detailed description of the simulation methodology, system architecture, and implementation. One practical use case is explored: Smart Farming, highlighting how autonomous coordination strategies can optimize battery usage and mission efficiency in large-scale drone deployments. This work uses a machine learning technique to analyze the agent-based simulation sensitivity analysis output results. Drones have become important tools within the Internet of Things, and can be used in agribusiness, disaster response, logistics, and other usages.

This survey offers a comprehensive overview of recent advancements in LiDAR-based autonomous Unmanned Aerial Vehicles (UAVs), covering their design, perception, planning, and control strategies. Over the past decade, LiDAR technology has become a crucial enabler for high-speed, agile, and reliable UAV navigation, especially in GPS-denied environments. The paper begins by examining the evolution of LiDAR sensors, emphasizing their unique advantages such as high accuracy, long-range depth measurements, and robust performance under various lighting conditions, making them particularly well-suited for UAV applications. The integration of LiDAR with UAVs has significantly enhanced their autonomy, enabling complex missions in diverse and challenging environments. Subsequently, we explore essential software components, including perception technologies for state estimation and mapping, as well as trajectory planning and control methodologies, and discuss their adoption in LiDAR-based UAVs. Additionally, we analyze various practical applications of the LiDAR-based UAVs, ranging from industrial operations to supporting different aerial platforms and UAV swarm deployments. The survey concludes by discussing existing challenges and proposing future research directions to advance LiDAR-based UAVs and enhance multi-UAV collaboration. By synthesizing recent developments, this paper aims to provide a valuable resource for researchers and practitioners working to push the boundaries of LiDAR-based UAV systems.

We present a VR-based teleoperation system for multirotor flight that renders a third-person view (TPV) of the vehicle together with a live 3D reconstruction of its surroundings. The system runs on an embedded GPU (Jetson Orin NX) with ROS2-WebXR integration and streams geometry and video to a headset for closed-loop control in previously unmapped spaces. We implement a first-person video (FPV) baseline and perform matched trials with two pilots in unmapped indoor spaces. Quantitative metrics are reported from repeated trials with one pilot (N=8). TPV achieved task time comparable to FPV while improving proximal obstacle awareness (minimum obstacle distance +0.20m) and reducing contacts. These results indicate that TPV can preserve control quality while exposing hazards less visible in FPV, supporting safer teleoperation in unknown environments.

Fighter jets from the UK will join Nato allies in defending Polish airspace after last week's incursion of Russian drones, the defence secretary has confirmed. RAF Typhoon jets will fly air defence missions over Poland as part of the military alliance's mission to bolster the eastern flank. Other allies including Denmark, Germany and France are already taking part - a jet from the latter was scrambled earlier on Monday in response to another potential incursion by Russian drones. Nato said that alert was quickly over. Tensions have risen across Europe since Poland accused Russia of the incident, which saw 19 drones enter its territory.

Russian military exercises near NATO borders follow the recent incursion of Russian drones into the airspace of Poland and Romania, further stoking tensions with the West. On Sunday, Russia released images of its launch of a 3M22 Zircon hypersonic missile from a frigate in the Barents Sea, in the Arctic Ocean, near NATO borders. The launch comes against a backdrop of rising tensions with the West, just days after several Russian drones violated the airspace of North Atlantic Treaty Organization member countries Poland and Romania. The Zircon test is part of the Zapad 2025 joint maneuvers with Belarus, a week of military exercises aimed at assessing defensive and coordination capabilities between the two allied countries. It also serves to show that Russia's military force has not lost its strength, despite heavy losses more than three years after the start of the invasion of Ukraine .

Belarus and Russia's show of firepower appears to be a message to Europe In a large field 45 miles (72km) from Belarus' capital Minsk, a battle is raging. There are giant explosions as Sukhoi-34 bombers drop guided bombs. Helicopter gunships join the attack, while surveillance drones sweep overhead to view the damage. Together with other international media we've been brought to the Borisovsky training ground where Belarusian and Russian forces are taking part in joint manoeuvres. Military attachés, too, from a variety of embassies are observing the drill from a viewing platform.

As drones have risen to prominence on the battlefield, so too has electronic warfare, in which adversaries attempt to mask, jam or trace radio signals.

How is Russia replenishing its military? What is a'coalition of the willing'? How China forgot promises and'debts' to Ukraine How are Europe, the US pulling apart on Ukraine? Despite Russian drone strikes, Kharkiv's factories stand firm for Ukraine's security Russian forces killed two people in Ukraine's Kherson, including a 49-year-old woman who was found dead in the rubble of her home, authorities said, a day after Russian attacks killed six people across the country. Ukrainian President Volodymyr Zelenskyy said that Ukrainian soldiers were advancing in the border areas of the northern Sumy region, and said Russian forces had suffered significant losses in the Donetsk and Kharkiv regions along the 1,000km (620-mile) front line.

Mathematical reasoning is critical for tasks such as precise distance and area computations, trajectory estimations, and spatial analysis in unmanned aerial vehicle (UAV) based remote sensing, yet current vision-language models (VLMs) have not been adequately tested in this domain. To address this gap, we introduce AVI-Math, the first benchmark to rigorously evaluate multimodal mathematical reasoning in aerial vehicle imagery, moving beyond simple counting tasks to include domain-specific knowledge in areas such as geometry, logic, and algebra. The dataset comprises 3,773 high-quality vehicle-related questions captured from UAV views, covering 6 mathematical subjects and 20 topics. The data, collected at varying altitudes and from multiple UAV angles, reflects real-world UAV scenarios, ensuring the diversity and complexity of the constructed mathematical problems. In this paper, we benchmark 14 prominent VLMs through a comprehensive evaluation and demonstrate that, despite their success on previous multimodal benchmarks, these models struggle with the reasoning tasks in AVI-Math. Our detailed analysis highlights significant limitations in the mathematical reasoning capabilities of current VLMs and suggests avenues for future research. Furthermore, we explore the use of Chain-of-Thought prompting and fine-tuning techniques, which show promise in addressing the reasoning challenges in AVI-Math. Our findings not only expose the limitations of VLMs in mathematical reasoning but also offer valuable insights for advancing UAV-based trustworthy VLMs in real-world applications. The code, and datasets will be released at https://github.com/VisionXLab/avi-math