DynFly adds a B-spline and flow-matching trajectory layer with UAV-specific dynamic losses to existing UAV-VLN systems, yielding 4.69 NDTW and 4.51 m NE gains on the OpenUAV unseen split.
Optimal Trajectory-Planning of UAVs via B-Splines and Disjunctive Programming
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abstract
This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive programming and receding horizon concept, which has many advantages, such as a high computational speed. Disjunctive programming is applied in order to relax the non-convex constraints of the problem. Moreover, the B-spline curves are employed to represent the trajectories which should be generated in the optimization process.
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cs.RO 1years
2026 1verdicts
UNVERDICTED 1representative citing papers
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DynFly: Dynamic-Aware Continuous Trajectory Generation for UAV Vision-Language Navigation in Urban Environments
DynFly adds a B-spline and flow-matching trajectory layer with UAV-specific dynamic losses to existing UAV-VLN systems, yielding 4.69 NDTW and 4.51 m NE gains on the OpenUAV unseen split.