{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/learning-to-recharge-uav-coverage-path","title":"Learning to Recharge: UAV Coverage Path Planning through Deep Reinforcement Learning","arxiv_id":"2309.03157","date":"2023-09-06","proceeding":null,"authors":["Mirco Theile","Harald Bayerlein","Marco Caccamo","Alberto L. Sangiovanni-Vincentelli"],"abstract":"Coverage path planning (CPP) is a critical problem in robotics, where the goal is to find an efficient path that covers every point in an area of interest. This work addresses the power-constrained CPP problem with recharge for battery-limited unmanned aerial vehicles (UAVs). In this problem, a notable challenge emerges from integrating recharge journeys into the overall coverage strategy, highlighting the intricate task of making strategic, long-term decisions. We propose a novel proximal policy optimization (PPO)-based deep reinforcement learning (DRL) approach with map-based observations, utilizing action masking and discount factor scheduling to optimize coverage trajectories over the entire mission horizon. We further provide the agent with a position history to handle emergent state loops caused by the recharge capability. Our approach outperforms a baseline heuristic, generalizes to different target zones and maps, with limited generalization to unseen maps. We offer valuable insights into DRL algorithm design for long-horizon problems and provide a publicly available software framework for the CPP problem.","url_abs":"https://arxiv.org/abs/2309.03157v2","url_pdf":"https://arxiv.org/pdf/2309.03157v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"learning-to-recharge-uav-coverage-path","repo_url":"https://github.com/theilem/uavSim","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"tf","reach":{"status":"ok","spdx":"BSD-3-Clause"}}],"tasks":[{"task_slug":"deep-reinforcement-learning","task_name":"Deep Reinforcement Learning"},{"task_slug":"reinforcement-learning-2","task_name":"reinforcement-learning"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}