{"paper":{"title":"UAV-based path planning for efficient localization of non-uniformly distributed weeds using prior knowledge: A reinforcement-learning approach","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Eldert van Henten, Gert Kootstra, Rick van Essen","submitted_at":"2024-12-16T12:39:02Z","abstract_excerpt":"UAVs are becoming popular in agriculture, however, they usually use time-consuming row-by-row flight paths. This paper presents a deep-reinforcement-learning-based approach for path planning to efficiently localize weeds in agricultural fields using UAVs with minimal flight-path length. The method combines prior knowledge about the field containing uncertain, low-resolution weed locations with in-flight weed detections. The search policy was learned using deep Q-learning. We trained the agent in simulation, allowing a thorough evaluation of the weed distribution, typical errors in the percepti"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.11717","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2412.11717/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}