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About this paper
Yichen Zhang, Xinyi Chen, Chen Feng, Boyu Zhou, Shaojie Shen
FALCON plans routes through connected free and unknown zones, then orders nearby frontier viewpoints to follow the global route. Its precedence-constrained local planner can defer viewpoints while preserving route intent. In Octa Maze simulation, it averaged 216.7 seconds versus 281.0 seconds for FAEP and had the shortest mean exploration time in all six scenarios. Real-world trials demonstrate onboard feasibility, not comparative speed.
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