The problem
Delivery drone research usually assumes a central controller. That is convenient and unrealistic: it makes the coordinator a single point of failure and does not scale with fleet size.
What it does
Agents are trained with TD3 inside AirSim on an Unreal Engine environment, and coordinate without a central authority. Navigation, obstacle handling and route decisions are learned in simulation rather than scripted.
The part that mattered
Simulation fidelity. A policy that only works in the simulator it was trained in has learned the simulator, not the task — so environment variation mattered more than reward tuning.