Paper Citation Record · LEDGER

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments

As of 19 August 2026, this Paper Citation Record lists 39 of 39 outbound references and 1 inbound Pith citation observation for arXiv:2604.07599.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2604.07599 v2

Coverage vector

measured 39 of 39 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-05-10T17:02:42.881039Z

measured 40 of 40 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-19T06:32:44.657259+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-07-14T03:37:03.478864Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

39 of 39 outbound references displayed

verified exact1
verified fuzzy37
unresolved1
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 7adee303-20e0-4397-8743-9d772c37af3a · outbound

This paper cites Ego-planner: An esdf- free gradient-based local planner for quadrotors.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Ego-planner: An esdf- free gradient-based local planner for quadrotors

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:47.983381Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 1e250bbb-dfd9-4867-9bdf-a1b1a08e6401 · outbound

This paper cites Faster: Fast and safe trajectory planner for navigation in unknown environments.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Faster: Fast and safe trajectory planner for navigation in unknown environments

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.099770Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation c4a853e7-efd8-481a-bad2-fda7ec89d0a6 · outbound

This paper cites High-speed motion planning for aerial swarms in unknown and cluttered environments.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments High-speed motion planning for aerial swarms in unknown and cluttered environments

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.019688Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 0780b366-1c28-4180-be22-b1674a9dbe94 · outbound

This paper cites Safety-assured high-speed navigation for mavs.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Safety-assured high-speed navigation for mavs

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.009155Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation e5af2ed8-0cb5-4848-83bb-ac1c7f6d296f · outbound

This paper cites Uavdynamic path planning based on obstacle position prediction in an unknown environment.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Uavdynamic path planning based on obstacle position prediction in an unknown environment

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.067536Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation ab1f8b20-957f-41be-a109-72276db160cc · outbound

This paper cites Vision-aided UAV navigation and dynamic obstacle avoidance using gradient-based B-spline trajectory optimization.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Vision-aided UAV navigation and dynamic obstacle avoidance using gradient-based B-spline trajectory optimization

Reference 6

Resolution: verified exact; arxiv_id, observed 2026-05-11T07:41:00.980611Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 969cd821-d926-43f4-a7bc-667d03cec28c · outbound

This paper cites Fapp:Fastandadaptiveperception and planning for uavs in dynamic cluttered environments.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Fapp:Fastandadaptiveperception and planning for uavs in dynamic cluttered environments

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.015323Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation cfae7875-a0ff-4e22-bdca-9086eb2bd85e · outbound

This paper cites Risk-aware enabled path planning for drones flight in unknown environment.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Risk-aware enabled path planning for drones flight in unknown environment

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:47.967513Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation c2a630b8-39ad-41df-8ee2-6734e07c25a6 · outbound

This paper cites Flying in highly dynamic environments with end-to-end learning approach.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Flying in highly dynamic environments with end-to-end learning approach

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.078956Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation a5b0ed3a-9bd8-49b1-9987-1e29753031f7 · outbound

This paper cites Robust vision-based obstacle avoidance for micro aerial vehicles in dynamic environments.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Robust vision-based obstacle avoidance for micro aerial vehicles in dynamic environments

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.039199Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 9c851dcd-4fe6-47aa-8dea-0c4e8fe5fa88 · outbound

This paper cites Tight collision probability for uav motion planning in uncertain environment.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Tight collision probability for uav motion planning in uncertain environment

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.081978Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 7b06e5e2-2502-4876-9f6e-498dfb856e66 · outbound

This paper cites Recursively feasible shrinking-horizon mpc in dynamic environments with conformal pre- diction guarantees.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Recursively feasible shrinking-horizon mpc in dynamic environments with conformal pre- diction guarantees

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:47.985470Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation c5627460-b236-47bf-9489-820be34fb21a · outbound

This paper cites A state-time space approach for local trajectory replanning of an mav in dynamic indoor environments.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments A state-time space approach for local trajectory replanning of an mav in dynamic indoor environments

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.095464Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 90444b31-ec33-4849-8d7e-027f54fad516 · outbound

This paper cites Intent prediction- driven model predictive control for uav planning and navigation in dynamic environments.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Intent prediction- driven model predictive control for uav planning and navigation in dynamic environments

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.073560Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation c6eda1ed-661f-4c50-b2d7-32422b0b709e · outbound

This paper cites Panther: Perception-aware trajectory planner in dynamic environments.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Panther: Perception-aware trajectory planner in dynamic environments

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.056069Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 2c70cebd-a5ab-4479-8ba8-478ce11c93d3 · outbound

This paper cites Swarm of micro flying robots in the wild.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Swarm of micro flying robots in the wild

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.090798Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation d2c00b64-8dd7-432f-b642-5bf1f834bc89 · outbound

This paper cites Heuristic-based incre- mental probabilistic roadmap for efficient uav exploration in dynamic environments.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Heuristic-based incre- mental probabilistic roadmap for efficient uav exploration in dynamic environments

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.050500Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 24738142-98e5-490b-a477-5855c184eaa3 · outbound

This paper cites Efficient mixed-integer planning for uavs in cluttered environments.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Efficient mixed-integer planning for uavs in cluttered environments

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.052406Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 5f4ce48e-f91c-48c7-9f89-3f947afc54f9 · outbound

This paper cites Aggressive quadrotor flight through cluttered environments using mixed integer programming.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Aggressive quadrotor flight through cluttered environments using mixed integer programming

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.065528Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 5d7172b6-995a-4c9b-844c-b731e926f377 · outbound

This paper cites Geometrically constrained tra- jectory optimization for multicopters.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Geometrically constrained tra- jectory optimization for multicopters

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.062311Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 7758b763-cbc2-4a75-901f-9e033bff359a · outbound

This paper cites Motion planning in dynamic environments using velocity obstacles.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Motion planning in dynamic environments using velocity obstacles

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.104090Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 6e400e39-46b4-42f5-afd6-460a4989bf58 · outbound

This paper cites Control barrier functions: Theory and applications.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Control barrier functions: Theory and applications

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.046903Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 389986e6-a336-4cd5-9de2-c9627d15b5b7 · outbound

This paper cites Hamilton–jacobi reachability: Some recent theoretical advances and applications in unmanned airspace 21 management.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Hamilton–jacobi reachability: Some recent theoretical advances and applications in unmanned airspace 21 management

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.045689Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 3956eebf-727b-4812-899c-b3671302a534 · outbound

This paper cites Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-d complex environments.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-d complex environments

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.049242Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation b6f54ca7-6deb-4fbb-9950-0e125e48774b · outbound

This paper cites Computing large convex regions of obstacle- free space through semidefinite programming.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Computing large convex regions of obstacle- free space through semidefinite programming

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:47.969030Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 6feecc13-2a78-4462-8427-1c9d5ba6874d · outbound

This paper cites Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.043513Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 5f2a4e4f-6a38-4b6e-9894-3fa0bf3ce3b5 · outbound

This paper cites Nocedal and S.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Nocedal and S

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.069966Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 5275cc8f-cdec-413e-98df-15090b35508e · outbound

This paper cites Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.014174Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation f5206014-7381-4a9b-8f1c-35426f9a136c · outbound

This paper cites Raptor: Robust and perception- aware trajectory replanning for quadrotor fast flight.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Raptor: Robust and perception- aware trajectory replanning for quadrotor fast flight

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.062982Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation ae817334-5414-4850-b7c0-7172da3c4317 · outbound

This paper cites an unresolved cited work.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Unresolved cited work

Reference 31

Resolution: unresolved; raw_fallback, observed 2026-05-17T12:21:48.010828Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation a8c9075c-a058-47dc-8264-5b89b6594bba · outbound

This paper cites Gurobi Optimizer Reference Manual.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Gurobi Optimizer Reference Manual

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.070860Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 9ba1cea1-1a57-43be-8a1f-0e2669ff2f08 · outbound

This paper cites Dynablox: Real-time detection of diverse dynamic objects in complex environments.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Dynablox: Real-time detection of diverse dynamic objects in complex environments

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.053925Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation bcc061fd-1c3b-4e82-a988-5a7892ae0df6 · outbound

This paper cites Adaptive adjustment of noise covariance in kalman filter for dynamic state estimation.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Adaptive adjustment of noise covariance in kalman filter for dynamic state estimation

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.059061Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 0ad340c3-060a-4b82-8f5c-9acb781dd9db · outbound

This paper cites Oa-mpc: Occlusion-aware mpc for guaranteed safe robot navigation with unseen dynamic obstacles.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Oa-mpc: Occlusion-aware mpc for guaranteed safe robot navigation with unseen dynamic obstacles

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.030423Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation edfa9000-c11e-4456-b64a-463bf3e6a762 · outbound

This paper cites Guaranteed infinite horizon avoidance of unpredictable,dynamicallyconstrainedobstacles.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Guaranteed infinite horizon avoidance of unpredictable,dynamicallyconstrainedobstacles

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.019031Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation b6011124-9199-4b5d-b64c-67808c74d909 · outbound

This paper cites On the limited memory bfgs method for large scale optimization.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments On the limited memory bfgs method for large scale optimization

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.001775Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation ec9dec28-c69b-470b-a524-34a38c37a3c8 · outbound

This paper cites Directlidar-inertialodometry: Lightweight lio with continuous-time motion correction.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Directlidar-inertialodometry: Lightweight lio with continuous-time motion correction

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.086538Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 4f163144-4802-4ef2-9160-cf22d62c5304 · outbound

This paper cites Px4: A node-based multithreaded open source robotics framework for deeply embedded platforms.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Px4: A node-based multithreaded open source robotics framework for deeply embedded platforms

Reference 39

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.086792Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 16ad8034-b3ec-44c6-9406-5bcf0b4de433 · outbound

This paper cites Pixhawk: A system for autonomous flight using onboard computer vision.

SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments Pixhawk: A system for autonomous flight using onboard computer vision

Reference 40

Resolution: verified fuzzy; raw_fallback, observed 2026-05-17T12:21:48.035252Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Pith citing papers

Observation b6bf6f6f-54a7-4361-a74d-f3d55b5d6ddf · inbound

High-level spatial Dubins airplane-based reference smoothing with low-level geometric tracking for quadrotor control cites this paper.

High-level spatial Dubins airplane-based reference smoothing with low-level geometric tracking for quadrotor control SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments

Reference 6

Resolution: unresolved; no resolver link, observed 2026-07-14T03:37:03.478864Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.