Optimal Path Planning and Cost Minimization for a Drone Delivery System Via Model Predictive Control
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866916662175858688 |
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| author | Khan, Muhammad Al-Zafar Al-Karaki, Jamal |
| author_facet | Khan, Muhammad Al-Zafar Al-Karaki, Jamal |
| contents | In this study, we formulate the drone delivery problem as a control problem and solve it using Model Predictive Control. Two experiments are performed: The first is on a less challenging grid world environment with lower dimensionality, and the second is with a higher dimensionality and added complexity. The MPC method was benchmarked against three popular Multi-Agent Reinforcement Learning (MARL): Independent $Q$-Learning (IQL), Joint Action Learners (JAL), and Value-Decomposition Networks (VDN). It was shown that the MPC method solved the problem quicker and required fewer optimal numbers of drones to achieve a minimized cost and navigate the optimal path. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2503_19699 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Optimal Path Planning and Cost Minimization for a Drone Delivery System Via Model Predictive Control Khan, Muhammad Al-Zafar Al-Karaki, Jamal Artificial Intelligence Multiagent Systems In this study, we formulate the drone delivery problem as a control problem and solve it using Model Predictive Control. Two experiments are performed: The first is on a less challenging grid world environment with lower dimensionality, and the second is with a higher dimensionality and added complexity. The MPC method was benchmarked against three popular Multi-Agent Reinforcement Learning (MARL): Independent $Q$-Learning (IQL), Joint Action Learners (JAL), and Value-Decomposition Networks (VDN). It was shown that the MPC method solved the problem quicker and required fewer optimal numbers of drones to achieve a minimized cost and navigate the optimal path. |
| title | Optimal Path Planning and Cost Minimization for a Drone Delivery System Via Model Predictive Control |
| topic | Artificial Intelligence Multiagent Systems |
| url | https://arxiv.org/abs/2503.19699 |