Wind-Informed Rapid Flight-Planning in Complex Urban Topologies via Machine Learning and Experimental Validation

The development and testing of advanced aerial robots require experiments in controlled environments with tailored airflow profiles. This paper presents an online learning algorithm for controlling the complex airflow field in a multi-fan vertical wind tunnel. Our method combines a simplified physical model with iterative, measurement-based learning, enabling sample-efficient convergence to desired airflow distributions. We demonstrate the method's versatility by generating complex airflow, such as uniform, Gaussian, and parabolic profiles. Crucially, we show that our algorithm can produce an airflow profile specifically designed for passive soaring, greatly enhancing flight performance of a soaring robot. Variability, practical utility, and robustness of our approach are further highlighted by successful operation with a varying number of fans.

Pedestrian-level wind prediction is essential for urban design and wind-comfort assessment, but high-fidelity simulations such as LES remain computationally expensive for rapid evaluation. This study develops a two-stage U-Net framework for efficient prediction of time-averaged pedestrian-level wind speed over realistic urban morphologies. The model is trained and evaluated using the UrbanTALES dataset, which contains realistic city configurations under different approaching wind directions. In the first stage, a baseline U-Net model (M1) predicts wind fields patch-by-patch from normalised building height and fetch information. This formulation allows application to urban domains of arbitrary size, but independent patch inference can introduce discontinuities at patch boundaries. To address this, a second U-Net model (M2) is introduced as an inpainting-based refinement model. M2 uses a larger contextual window containing the initial M1 prediction and local morphology to reduce discontinuities using neighbouring flow information. During full-field inference, M2 is applied iteratively using a Gauss-Seidel scheme until convergence. Results show that M1 captures the main spatial distribution of pedestrian-level wind speed and performs well in low- and moderate-velocity regions, although high-velocity peaks are less accurate. M2 substantially reduces patch-boundary artefacts and improves spatial coherence. Across unseen urban cases, the framework reproduces mean velocity and spatial variability reasonably well, while maximum velocities remain underestimated. Overall, the proposed framework provides an efficient and flexible surrogate model for high-resolution pedestrian-level wind prediction across realistic urban morphologies.

This work presents a motion planning framework for UAV navigation in non-convex urban air corridors. The planner is based on a mixed-integer tracking model predictive control formulation that enforces corridor feasibility and dynamic consistency within a single optimization problem. To guarantee convergence to the target and mitigate the occurrence of local minima induced by non-convex geometry, a shortest-path-based offset cost with feasibility constraints is embedded directly into the planning problem. Numerical simulations show that the proposed formulation generates dynamically valid trajectories that satisfy the corridor constraints and converge to the target without relying on external global planning stages.