5 papers
DynFly: Dynamic-Aware Continuous Trajectory Generation for UAV Vision-Language Navigation in Urban Environments
Wen Jiang, Hanfang Liang, Li Wang +9
Recent advances in multimodal large models have significantly improved UAV vision-language navigation (UAV-VLN) by enhancing high-level perception and reasoning. However, existing…
SpatialFly: Implicit 3D Prior-Guided Visual Reparameterization for Continuous UAV Vision-and-Language Navigation
Wen Jiang, Kangyao Huang, Li Wang +9
UAVs play an important role in applications such as autonomous exploration, disaster response, and infrastructure inspection. However, UAV VLN in complex 3D environments remains ch…
LongFly: Long-Horizon UAV Vision-and-Language Navigation with Spatiotemporal Context Integration
Wen Jiang, Li Wang, Kangyao Huang +6
Unmanned aerial vehicles (UAVs) are crucial tools for post-disaster search and rescue, facing challenges such as high information density, rapid changes in viewpoint, and dynamic s…
HPHS: Hierarchical Planning based on Hybrid Frontier Sampling for Unknown Environments Exploration
Shijun Long, Ying Li, Chenming Wu +2
Rapid sampling from the environment to acquire available frontier points and timely incorporating them into subsequent planning to reduce fragmented regions are critical to improve…
HEROS: Hierarchical Exploration with Online Subregion Updating for 3D Environment Coverage
Shijun Long, Ying Li, Chenming Wu +2
We present an autonomous exploration system for efficient coverage of unknown environments. First, a rapid environment preprocessing method is introduced to provide environmental i…