KIO-planner combines CBAM attention with a Dual Mapping mechanism of physical bounds and geometric safety shield to deliver 24 ms latency, 28.4% lower control cost, and 0.76 m obstacle clearance at 3 m/s in simulated confined environments.
Nanomap: Fast, uncertainty-aware proximity queries with lazy search over local 3d data[C]//2018 IEEE international conference on robotics and automation (ICRA)
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KIO-planner: Attention-Guided Single-Stage Motion Planning with Dual Mapping for UAV Navigation
KIO-planner combines CBAM attention with a Dual Mapping mechanism of physical bounds and geometric safety shield to deliver 24 ms latency, 28.4% lower control cost, and 0.76 m obstacle clearance at 3 m/s in simulated confined environments.