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| Main Authors: | , , , , , , , , , , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2409.10196 |
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| _version_ | 1866914950029508608 |
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| author | Cai, Zhixi Cardenas, Cristian Rojas Leo, Kevin Zhang, Chenyuan Backman, Kal Li, Hanbing Li, Boying Ghorbanali, Mahsa Datta, Stavya Qu, Lizhen Santiago, Julian Gutierrez Ignatiev, Alexey Li, Yuan-Fang Vered, Mor Stuckey, Peter J de la Banda, Maria Garcia Rezatofighi, Hamid |
| author_facet | Cai, Zhixi Cardenas, Cristian Rojas Leo, Kevin Zhang, Chenyuan Backman, Kal Li, Hanbing Li, Boying Ghorbanali, Mahsa Datta, Stavya Qu, Lizhen Santiago, Julian Gutierrez Ignatiev, Alexey Li, Yuan-Fang Vered, Mor Stuckey, Peter J de la Banda, Maria Garcia Rezatofighi, Hamid |
| contents | This paper addresses the problem of autonomous UAV search missions, where a UAV must locate specific Entities of Interest (EOIs) within a time limit, based on brief descriptions in large, hazard-prone environments with keep-out zones. The UAV must perceive, reason, and make decisions with limited and uncertain information. We propose NEUSIS, a compositional neuro-symbolic system designed for interpretable UAV search and navigation in realistic scenarios. NEUSIS integrates neuro-symbolic visual perception, reasoning, and grounding (GRiD) to process raw sensory inputs, maintains a probabilistic world model for environment representation, and uses a hierarchical planning component (SNaC) for efficient path planning. Experimental results from simulated urban search missions using AirSim and Unreal Engine show that NEUSIS outperforms a state-of-the-art (SOTA) vision-language model and a SOTA search planning model in success rate, search efficiency, and 3D localization. These results demonstrate the effectiveness of our compositional neuro-symbolic approach in handling complex, real-world scenarios, making it a promising solution for autonomous UAV systems in search missions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_10196 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | NEUSIS: A Compositional Neuro-Symbolic Framework for Autonomous Perception, Reasoning, and Planning in Complex UAV Search Missions Cai, Zhixi Cardenas, Cristian Rojas Leo, Kevin Zhang, Chenyuan Backman, Kal Li, Hanbing Li, Boying Ghorbanali, Mahsa Datta, Stavya Qu, Lizhen Santiago, Julian Gutierrez Ignatiev, Alexey Li, Yuan-Fang Vered, Mor Stuckey, Peter J de la Banda, Maria Garcia Rezatofighi, Hamid Robotics Artificial Intelligence Computer Vision and Pattern Recognition This paper addresses the problem of autonomous UAV search missions, where a UAV must locate specific Entities of Interest (EOIs) within a time limit, based on brief descriptions in large, hazard-prone environments with keep-out zones. The UAV must perceive, reason, and make decisions with limited and uncertain information. We propose NEUSIS, a compositional neuro-symbolic system designed for interpretable UAV search and navigation in realistic scenarios. NEUSIS integrates neuro-symbolic visual perception, reasoning, and grounding (GRiD) to process raw sensory inputs, maintains a probabilistic world model for environment representation, and uses a hierarchical planning component (SNaC) for efficient path planning. Experimental results from simulated urban search missions using AirSim and Unreal Engine show that NEUSIS outperforms a state-of-the-art (SOTA) vision-language model and a SOTA search planning model in success rate, search efficiency, and 3D localization. These results demonstrate the effectiveness of our compositional neuro-symbolic approach in handling complex, real-world scenarios, making it a promising solution for autonomous UAV systems in search missions. |
| title | NEUSIS: A Compositional Neuro-Symbolic Framework for Autonomous Perception, Reasoning, and Planning in Complex UAV Search Missions |
| topic | Robotics Artificial Intelligence Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2409.10196 |