AUG
Perception-aware UAV graph-based planning for GNSS-denied navigation in feature-sparse environments.
AUG is a perception-aware UAV planning framework for GNSS-denied, feature-sparse environments. It combines topology-guided global routing, robocentric local trajectory optimization, and yaw planning that preserves informative LiDAR measurements for more stable odometry.
AUG 是面向 GNSS 失效、特征稀疏环境的无人机感知规划框架，结合拓扑引导全局路由、以机体为中心的局部轨迹优化，以及保持 LiDAR 有效观测的 yaw 规划，以提升导航稳定性。