In the field of autonomous Unmanned Aerial Vehicles (UAVs) landing,
conventional approaches fall short in delivering not only the required
precision but also the resilience against environmental disturbances. Yet,
learning-based algorithms can offer promising solutions by leveraging their
ability to learn the intelligent behaviour from data. On one hand, this paper
introduces a novel multimodal transformer-based Deep Learning detector, that
can provide reliable positioning for precise autonomous landing. It surpasses
standard approaches by addressing individual sensor limitations, achieving high
reliability even in diverse weather and sensor failure conditions. It was
rigorously validated across varying environments, achieving optimal true
positive rates and average precisions of up to 90%. On the other hand, it is
proposed a Reinforcement Learning (RL) decision-making model, based on a Deep
Q-Network (DQN) rationale. Initially trained in sumlation, its adaptive
behaviour is successfully transferred and validated in a real outdoor scenario.
Furthermore, this approach demonstrates rapid inference times of approximately
5ms, validating its applicability on edge devices.

该研究介绍了一种基于多模式变压器的深度学习探测器，可为精确自主着陆提供可靠的定位，同时还提出了一种基于深度 Q 网络的强化学习决策模型，该模型在模拟环境中进行训练，然后成功地在真实户外场景中验证其适用性。