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About this paper
Zhefan Xu, Di Deng, Yiping Dong, Kenji Shimada
DPMPC-Planner combines a static-map route with online avoidance of moving obstacles for UAV navigation. Its static layer plans a collision-free trajectory, while chance-constrained model predictive control adapts around obstacles and tracks a temporary goal before returning to the route. In Forest simulations at 4Σ, it achieved 83.3% success versus 46.1% for deterministic DPMPC; these results do not establish real-world performance.
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