Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion
Jialin Ji Zhepei Wang Yingjian Wang Chao Xu Fei Gao Jialin Ji Zhepei Wang Yingjian Wang Chao Xu Fei Gao
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 local planner which directly conducts such abstraction on the unfused sensor data. A limited-memory data structure with a reliable proximity query algorithm is proposed for maintaining raw historical information. A sampling-...