EDEN: Efficient Dual-Layer Exploration Planning for Fast UAV Autonomous Exploration in Large 3-D Environments

Code

The code will be released once the paper is accepted.

Simulations

Real-World Exploration

Acknowledgements

We are also inspired by Faster, and proposed ASEO (aggressive and safe exploration-oriented) trajectory in MINCO form. We also adopt dynamical topological graph DTG for planning.

//                 @@@@@
//                 ##**#%@@
//           @@@@%*-:::--+%
//         @@%#*%#-::::=:.+@%
//        @#=:..-#-.:::+++#@%
//       @#:...:.:#-...:*@@%
//     @%=........-#:++=+%@%
//    @%- . =:.....+*-...:#@%
//    @%: . =#......#: ... +@%
//    @%:   -:.....:#..... :%@
//      @*: ...... -* ..... =@%
//       @%=:... . -= ..... +@%
//        @@*==--::--:...  .%@%
//        @+=++++=======--=*@%
//       @#++++==========+@@
//      @#++++====-=======*%
//     %*+++===--===----===+%
//    #*++===--=*%%%#=-=====*@
//  *++==--+%@@%%%@%*--====#@
// #*====-=#@        @#=--===%@
// #*+=--+##          @@*=--=+#@
// #*+++=*#              @%+=+++%
// #*++=+#*                #++++*#
// #*++=+#                  #=+++#
// #*+++#                   %*=++*#
// #++=*%                   #%+=++#