Reproduce “EDEN: Efficient Dual-Layer Exploration Planning for Fast UAV Autonomous Exploration in Large 3-D Environments” on OpenResearch
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About this paper
Qianli Dong, Xuebo Zhang, Shiyong Zhang, Ziyu Wang, Zhe Ma, Haobo Xi
EDEN guides UAV exploration by routing through coarse regions, then selecting a nearby viewpoint and planning continuous exploration, continuity, and safety trajectories. Its approximate routing aims to reduce computation and sustain speed. In ten City simulations, EDEN averaged 515.88 s exploration time and 36.29 ms planning cost, versus FALCON’s 978.48 s and 752.49 ms; the Large Tunnel test showed feasibility, not comparative performance.
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