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What is Agile Path Planning for Aerial Robots about?
This paper introduces a Motion Primitives-Based exploration path planner (MBPlanner) designed for fast and agile exploration using aerial robots in challenging environments. The planner utilizes motion primitives to generate collision-free paths that maximize exploration gain while accommodating the dynamic capabilities of micro aerial vehicles. Field tests conducted in subterranean environments demonstrate the effectiveness of the proposed method in navigating narrow spaces at speeds up to 2m/s.
- Author
- ys zhou
- Language
- EN