One-Liner UAV navigation through leveraging updrafts, handling their unpredictability with POMDPs and Receeding Horizon. Novelty Developed new method for low-cost POMDP online solving Cool bird. Notable Methods two main steps explore: determine thermal parameters exploit: plan a trajectory to exploit the thermal formulation \mathcal{S}: s^{u} \in \mathbb{R}^{6}, the joint state of the UAV (2D location wrt fixed point + air speech + heading, bank, roll, altitude), and s^{th} \in \mathbb{R}^{2},the thermal status (thermal center x and y relative to UAV) \mathcal{A}: discretized arc trajectory segments by bank angles \phi_{1 \dots n}, which executes for a fixed T_{A} seconds \mathcal{T}: Gaussian of s^{u} over the dynamics of the UAV, and over fixed noise covariance Q \mathcal{R}: h_{s’}-h_{s}, the change in altitude…. \mathcal{O}: senor readings O(a, s’, o): fixed noise covariance R b_0: product of two Gaussian of the UAV’s position and the belief about the underlying thermals update(b,a,o): EKF modeling assumptions: thermal consistency: the world model change frequency less than control thermal stationarity: thermal doesn’t move against surrounding air no pitch angle control: reward hacking may happen no turbulence: thermal doesn’t sang horizontal displacements POMDSoar The exact solution to the POMDP as proposed makes aggressive decisions in order to simplify costs to run on a PixHawk. We need to explicitly build in a exploration/exploitation tradeoff. Key Figs comparison against ardusoar: EKF + just circling ArduPilot’s implementation is worse New Concepts POMDSoar, the soring mechanism Notes