{"paper":{"title":"MinNav: Minimalist Navigation Using Optical Flow For Active Tiny Aerial Robots","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Aniket Patil, Mandeep Singh, Nitin J. Sanket, Uday Girish Maradana","submitted_at":"2026-06-05T19:45:02Z","abstract_excerpt":"Navigation using a monocular camera is pivotal for autonomous operation on tiny aerial robots due to their perfect balance of versatility, cost and accuracy. In this paper, we introduce MinNav, a navigation stack based on optical flow and its uncertainty to fly through a scene with static and dynamic obstacles and unknown-shaped gaps without any prior knowledge of the scene components and/or their locations/ordering. We further improve success rate by using the activeness of the robot to move around in an exploratory way to find obstacles and navigate. We successfully evaluate and demonstrate "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.07813","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.07813/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}