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Lightweight Path-Aware Frontier Re-ranking for LiDAR-Based UAV Exploration — arXiv:2611.09561

Source: arXiv (en)
Original: https://arxiv.org/abs/2611.09561
License (as archived): CC0-1.0
Archived: 2026-11-09T22:46:05.880Z
SHA-256 of the archived text: 01fdbdcb83d0aa39ea0301bf16914e20d1ae69451c63b01a0e45d93e26c72189
Stable URL of this page: https://metraipolis.com/documento/dc_950f075ee883

How to cite

Lightweight Path-Aware Frontier Re-ranking for LiDAR-Based UAV Exploration — arXiv:2611.09561 — arXiv (en), https://arxiv.org/abs/2611.09561 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_950f075ee883 (Metraipolis archive dc_950f075ee883, sha256 01fdbdcb83d0aa39ea0301bf16914e20d1ae69451c63b01a0e45d93e26c72189)

BibTeX

@misc{dc950f075ee883,
  title = {Lightweight Path-Aware Frontier Re-ranking for LiDAR-Based UAV Exploration — arXiv:2611.09561},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2611.09561},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_950f075ee883; sha256 01fdbdcb83d0aa39ea0301bf16914e20d1ae69451c63b01a0e45d93e26c72189},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2611.09561. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Autonomous 3D exploration with UAVs requires efficient target selection under limited flight time and onboard computation. In conventional Euclidean-distance-based frontier pipelines, geometric distance may poorly represent the actual collision-free travel cost in cluttered environments, leading to inefficient frontier choices. This paper presents a lightweight path-aware frontier re-ranking method for LiDAR-based UAV exploration. The method first retains a small top-N set of promising frontier candidates using a lightweight utility function and then applies time-bounded RRT* planning to estimate their feasible path costs for re-ranking. The path generated for the selected frontier is further reused for navigation to reduce redundant global planning. Experiments in three warehouse-like environments show that the proposed method consistently produces shorter exploration trajectories than conventional frontier baselines, with traveled-distance reductions of up to 14.1%, while reducing exploration time by up to 9.5% in two environments and remaining competitive in the third. The method maintains map detail comparable to the conventional OctoMap-based baseline, demonstrating an effective trade-off between exploration efficiency and mapping quality.

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2611.09561 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-09T22:38:02.200Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).