Drones are vital for urban emergency search and rescue (SAR) due to the
challenges of navigating dynamic environments with obstacles like buildings and
wind. This paper presents a method that combines multi-objective reinforcement
learning (MORL) with a convolutional autoencoder to improve drone navigation in
urban SAR. The approach uses MORL to achieve multiple goals and the autoencoder
for cost-effective wind simulations. By utilizing imagery data of urban
layouts, the drone can autonomously make navigation decisions, optimize paths,
and counteract wind effects without traditional sensors. Tested on a New York
City model, this method enhances drone SAR operations in complex urban
settings.

这篇论文介绍了一种将多目标强化学习与卷积自编码器相结合的方法，以提高城市紧急搜索和救援中的无人机导航。该方法利用多目标强化学习实现多个目标，并利用自编码器进行经济高效的风模拟，通过利用城市布局的图像数据，无人机可以自主进行导航决策，优化路径，并抵消传统传感器无法解决的风力影响。在纽约城模型上进行的测试表明，该方法可以增强复杂城市环境下无人机的搜索和救援任务。