Uploaded November 2020 | Updated September 2026, 1 hour ago
Video for the ICRA 2021 submission.
Preprint: arxiv.org/abs/2011.03975v1
Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner that directly conducts such abstraction on the unfused sensor data. A limited-memory data structure with a reliable proximity query algorithm is proposed for maintain-ing raw historical information. A sampling-based scheme is designed to extract the free-space skeleton. A smart waypoint selection strategy enables to generate high-quality trajectories within the resultant flight corridors. Our planner differs from other mapless ones in that it can abstract and exploit the environment information efficiently. The online replan consistency and success rate are both significantly improved against conventional mapless methods.
Video for the ICRA 2021 submission.
Preprint: arxiv.org/abs/2011.03975v1
Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner that directly conducts such abstraction on the unfused sensor data. A limited-memory data structure with a reliable proximity query algorithm is proposed for maintain-ing raw historical information. A sampling-based scheme is designed to extract the free-space skeleton. A smart waypoint selection strategy enables to generate high-quality trajectories within the resultant flight corridors. Our planner differs from other mapless ones in that it can abstract and exploit the environment information efficiently. The online replan consistency and success rate are both significantly improved against conventional mapless methods.
![Swarm of Micro Flying Robots in the Wild [S4]](https://i.ytimg.com/vi/mfzIEY74cFA/mqdefault.jpg "Swarm of Micro Flying Robots in the Wild [S4]
Video for the Intensive Reciprocal Avoidance Evaluation experiment.")
