Integrating Symbolic RL Planning into a BDI-based Autonomous UAV Framework: System Integration and SIL Validation

TL;DR

This paper presents the AMAD-SRL framework that integrates symbolic reinforcement learning into a BDI-based UAV system, validated through SIL testing, leading to improved mission efficiency and adaptive planning capabilities.

Contribution

It introduces an extended AMAD-SRL framework combining symbolic RL with BDI architecture for UAVs, validated in SIL environment for seamless hardware transition.

Findings

Stable integration of symbolic RL and BDI modules.

Successful transition between planning phases.

75% reduction in travel distance for target acquisition.

Abstract

Modern autonomous drone missions increasingly require software frameworks capable of seamlessly integrating structured symbolic planning with adaptive reinforcement learning (RL). Although traditional rule-based architectures offer robust structured reasoning for drone autonomy, their capabilities fall short in dynamically complex operational environments that require adaptive symbolic planning. Symbolic RL (SRL), using the Planning Domain Definition Language (PDDL), explicitly integrates domain-specific knowledge and operational constraints, significantly improving the reliability and safety of unmanned aerial vehicle (UAV) decision making. In this study, we propose the AMAD-SRL framework, an extended and refined version of the Autonomous Mission Agents for Drones (AMAD) cognitive multi-agent architecture, enhanced with symbolic reinforcement learning for dynamic mission planning and execution. We validated our framework in a Software-in-the-Loop (SIL) environment structured identically to an intended Hardware-In-the-Loop Simulation (HILS) platform, ensuring seamless transition to real hardware. Experimental results demonstrate stable integration and interoperability of modules, successful transitions between BDI-driven and symbolic RL-driven planning phases, and consistent mission performance. Specifically, we evaluate a target acquisition scenario in which the UAV plans a surveillance path followed by a dynamic reentry path to secure the target while avoiding threat zones. In this SIL evaluation, mission efficiency improved by approximately 75% over a coverage-based baseline, measured by travel distance reduction. This study establishes a robust foundation for handling complex UAV missions and discusses directions for further enhancement and validation.