NEUSIS: A Compositional Neuro-Symbolic Framework for Autonomous Perception, Reasoning, and Planning in Complex UAV Search Missions

This paper addresses the problem of autonomous UAV search missions, where a UAV must locate specific Entities of Interest (EOIs) within a time limit, based on brief descriptions in large, hazard-prone environments with keep-out zones. The UAV must perceive, reason, and make decisions with limited and uncertain information. We propose NEUSIS, a compositional neuro-symbolic system designed for interpretable UAV search and navigation in realistic scenarios. NEUSIS integrates neuro-symbolic visual perception, reasoning, and grounding (GRiD) to process raw sensory inputs, maintains a probabilistic world model for environment representation, and uses a hierarchical planning component (SNaC) for efficient path planning. Experimental results from simulated urban search missions using AirSim and Unreal Engine show that NEUSIS outperforms a state-of-the-art (SOTA) vision-language model and a SOTA search planning model in success rate, search efficiency, and 3D localization. These results demonstrate the effectiveness of our compositional neuro-symbolic approach in handling complex, real-world scenarios, making it a promising solution for autonomous UAV systems in search missions.

DASH: Dynamic Approach for Switching Heuristics

Complete tree search is a highly effective method for tackling MIP problems, and over the years, a plethora of branching heuristics have been introduced to further refine the technique for varying problems. Recently, portfolio algorithms have taken the process a step further, trying to predict the best heuristic for each instance at hand. However, the motivation behind algorithm selection can be taken further still, and used to dynamically choose the most appropriate algorithm for each encountered subproblem. In this paper we identify a feature space that captures both the evolution of the problem in the branching tree and the similarity among subproblems of instances from the same MIP models. We show how to exploit these features to decide the best time to switch the branching heuristic and then show how such a system can be trained efficiently. Experiments on a highly heterogeneous collection of MIP instances show significant gains over the pure algorithm selection approach that for a given instance uses only a single heuristic throughout the search.