A diffusion-based 4D trajectory predictor with dimension decoupling and residual refinement, integrated into DNMPC, reduces UAV swarm tracking error by 10-15% while running at 34 FPS on a new multi-scenario dataset.
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Diffusion-based 4D Trajectory Prediction and Distributed Control for UAV Swarms
A diffusion-based 4D trajectory predictor with dimension decoupling and residual refinement, integrated into DNMPC, reduces UAV swarm tracking error by 10-15% while running at 34 FPS on a new multi-scenario dataset.