Agentic and Embodied UAV Relays for Satellite–Aerial Networking: End-to-End Latency-Aware Optimization

Abstract

Integrated satellite–aerial networks (ISANs) are emerging as a promising architecture that combines high-throughput inter-satellite transmission with the agility of uncrewed aerial vehicles (UAVs) to support flexible and low-latency traffic delivery. Owing to the inherently uneven traffic distribution in the satellite layer, traffic flows often suffer from congestion and excessive multi-hop forwarding delays. UAVs can act as adaptive relays to offload congested traffic and mitigate routing detours, thereby reducing end-to-end latency. However, latency-aware traffic management in ISANs is fundamentally challenged by highly dynamic satellite topologies, heterogeneous link characteristics, and the tight coupling between satellite traffic dynamics and UAV mobility. Existing approaches often suffer from cross-layer misalignment between satellite routing and aerial relaying, which limits coordinated latency adaptation. To address these challenges, this paper proposes an agentic UAV-assisted relay framework, termed DUS-SACUD, in which an autonomous UAV acts as an embodied agent that proactively steers traffic. First, a graph-conditioned diffusion model is developed for generative UAV–satellite link (USL) selection under dynamic network states. Second, a soft actor–critic-based reinforcement learning scheme is employed for embodied UAV deployment to minimize USL-induced delay. Through closed-loop alternating execution, DUS-SACUD jointly optimizes connectivity adaptation and mobility control in ISANs. Extensive simulations based on a realistic satellite constellation demonstrate significant end-to-end latency reduction over existing routing and UAV-assisted baselines, while maintaining robust performance under diverse ISAN conditions.