📝 SummarXiv

Abstract

The employment of unmanned aerial vehicles (UAVs) in the lowaltitude economy necessitates precise and real-time radio maps for reliable communication and safe navigation. However, constructing such maps is hindered by the infeasibility of exhaustive measurements due to UAVs' limited flight endurance. To address this, we propose a novel active learning framework for low-altitude radio map construction based on limited measurements. First, a Plug-and-Play (PnP)-refined flow matching algorithm is introduced, which leverages flow matching as a powerful generative prior within a PnP scheme to reconstruct high-fidelity radio maps. Second, the generative nature of flow matching is exploited to quantify uncertainty by generating an ensemble of radio maps and computing the location-wise variance. The resulting uncertainty map guides a multi-objective candidate selection and then a trajectory is planned via utility-aware path search (UAPS), directing the UAV to the most informative locations while taking travel costs into account. Simulation results demonstrate that our method significantly outperforms the baselines, achieving more than a 70% reduction in normalized mean squared error (NMSE).