AUG: Perception-Aware UAV Graph-Based Planning for GNSS-Denied Navigation in Feature-Sparse Environments
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026
Recommended citation: E. Feng, H. Yuan, H. Zhang, H. Xu, Y. Dou, J. Lin and X. Dong. AUG: Perception-Aware UAV Graph-Based Planning for GNSS-Denied Navigation in Feature-Sparse Environments. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026. https://fegkkd.github.io/IROS2026AUG/IROS2026.pdf
Honorable Mention, IROS 2026 Best Paper Award on Safety, Security, and Rescue Robotics.
AUG is a perception-aware UAV planning framework for GNSS-denied, feature-sparse environments. It combines topology-guided global routing, robocentric local trajectory optimization, and yaw planning that keeps informative LiDAR measurements in view for more stable odometry.