2d-3d coordinated planning 1indoor UAV swarm 1mission-oriented navigation 1multi-robot coordination 1sketch-map prior 1
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cs.RO2026
From Sketch Prior to Trajectories: A Mission-Oriented Coordinated Navigation Framework for Indoor UAV Swarm
Xinhang Xu, Ruiyang Liu, Haotian Jin +4
The paper presents a coordinated navigation framework for indoor UAV swarms that leverages pre‑deployment sketch‑map priors (e.g., floor plans) to plan mission‑oriented 2D guide pa…
cs.RO2026
FU-MPC: Frontier- and Uncertainty-Aware Model Predictive Control for Efficient and Accurate UAV Exploration with Motorized LiDAR
Jianping Li, Pengfei Wan, Zhongyuan Liu +6
Efficient UAV exploration in unknown environments requires rapid coverage expansion while maintaining accurate and reliable localization, since safe navigation in complex scenes de…
cs.RO2024
Asymptotically Optimal Sampling-Based Path Planning Using Bidirectional Guidance Heuristic
Yi Wang, Bingxian Mu
This paper introduces Bidirectional Guidance Informed Trees (BIGIT*),~a new asymptotically optimal sampling-based motion planning algorithm. Capitalizing on the strengths of \emph{…