Article

Extended LASMP: A Language-Aided Subset Sampling Motion Planner for Drone Navigation

The paper proposes Extended LASMP, which incorporates navigation commands directly into the sampling distribution to improve the exploration efficiency of sampling-based motion planning for quadcopters in three-dimensional environments. The method generalizes subset sampling to command-aligned regions and uses a prompt-based large language model to parse natural-language instructions into yaw-conditioned and altitude-aware geometric constraints. Simulations in complex environments show that the method generates collision-free, consistent trajectories while significantly reducing sampling effort compared with uniform RRT-based planners.

Part of the event: Extended LASMP: Language Instruction-Guided UAV Sampling Planning

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