SANDO achieves high success rates with collision-free guarantees in dynamic unknown 3D environments via spatiotemporal safe flight corridors, variable-elimination MIQP, and formal analysis under bounded velocity and estimation error.
Faster: Fast and safe trajectory planner for navigation in unknown environments
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SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments
SANDO achieves high success rates with collision-free guarantees in dynamic unknown 3D environments via spatiotemporal safe flight corridors, variable-elimination MIQP, and formal analysis under bounded velocity and estimation error.