Active Inference Framework for Closed-Loop Sensing, Communication, and Control in UAV Systems
Abstract
Integrated sensing and communication is a core technology for 6G, and its application to closed-loop sensing, communication, and control (SCC) enables various services. Existing SCC solutions often treat sensing and control separately, leading to suboptimal performance and resource usage. In this work, we introduce the active inference framework into SCC-enabled uncrewed aerial vehicle systems for joint state estimation, control, and sensing resource allocation. By formulating a unified generative model, the problem reduces to minimizing variational free energy for inference and expected free energy for action planning. Simulation results show that both control cost and sensing cost are reduced relative to baselines.
Fields of Study & Subjects
UAV Applications and Optimization
Radar Systems and Signal Processing
Air Traffic Management and Optimization
Publication details
- Journal / source
- ICASSP 2026 - 2026 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)
- Publisher
- IEEE
- Pages
- 22437–22441
- Publication date
- 21 April 2026
- Language
- EN