UAV-CodeAgents: Scalable UAV Mission Planning via Multi-Agent ReAct and Vision-Language Reasoning

Oleg Sautenkov; Yasheerah Yaqoot; Muhammad Ahsan Mustafa; Faryal Batool; Jeffrin Sam; Artem Lykov; Chih-Yung Wen; Dzmitry Tsetserukou

arXiv · 2505.07236

UAV-CodeAgents: Scalable UAV Mission Planning via Multi-Agent ReAct and Vision-Language Reasoning

Oleg Sautenkov·Yasheerah Yaqoot·Muhammad Ahsan Mustafa·Faryal Batool·Jeffrin Sam·Artem Lykov·Chih-Yung Wen·Dzmitry Tsetserukou

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Abstract

We present UAV-CodeAgents, a scalable multi-agent framework for autonomous UAV mission generation, built on large language and vision-language models (LLMs/VLMs). The system leverages the ReAct (Reason + Act) paradigm to interpret satellite imagery, ground high-level natural language instructions, and collaboratively generate UAV trajectories with minimal human supervision. A core component is a vision-grounded, pixel-pointing mechanism that enables precise localization of semantic targets on aerial maps. To support real-time adaptability, we introduce a reactive thinking loop, allowing agents to iteratively reflect on observations, revise mission goals, and coordinate dynamically in evolving environments. UAV-CodeAgents is evaluated on large-scale mission scenarios involving industrial and environmental fire detection. Our results show that a lower decoding temperature (0.5) yields higher planning reliability and reduced execution time, with an average mission creation time of 96.96 seconds and a success rate of 93%. We further fine-tune Qwen2.5VL-7B on 9,000 annotated satellite images, achieving strong spatial grounding across diverse visual categories. To foster reproducibility and future research, we will release the full codebase and a novel benchmark dataset for vision-language-based UAV planning.

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BibTeX RIS

Oleg Sautenkov, Yasheerah Yaqoot, Muhammad Ahsan Mustafa, Faryal Batool, Jeffrin Sam, Artem Lykov, Chih-Yung Wen, Dzmitry Tsetserukou. 2025-05-12. UAV-CodeAgents: Scalable UAV Mission Planning via Multi-Agent ReAct and Vision-Language Reasoning. https://arxiv.org/abs/2505.07236

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