arXiv cs.RO·· 2 days agoAI score55
Lightweight Path-Aware Frontier Re-ranking for LiDAR UAV Exploration
Summary
The paper proposes a lightweight path-aware frontier re-ranking method for LiDAR UAV autonomous exploration: a lightweight utility function first retains a small top-N set of frontier candidates, then time-bounded RRT* planning estimates their feasible path costs for re-ranking, and the path for the selected frontier is reused for navigation to reduce redundant global planning.
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Source: arXiv cs.RO · arxiv.org
Perception and localizationPlanning and decision makingResearch papers#Research#Planning and decision-making#Perception and localization
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