Terrain-Aware Adaptation for Two-Dimensional UAV Path Planners
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866916860612575232 |
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| author | Karakontis, Kostas Petsanis, Thanos Kapoutsis, Athanasios Ch. Kapoutsis, Pavlos Ch. Kosmatopoulos, Elias B. |
| author_facet | Karakontis, Kostas Petsanis, Thanos Kapoutsis, Athanasios Ch. Kapoutsis, Pavlos Ch. Kosmatopoulos, Elias B. |
| contents | Multi-UAV Coverage Path Planning (mCPP) algorithms in popular commercial software typically treat a Region of Interest (RoI) only as a 2D plane, ignoring important3D structure characteristics. This leads to incomplete 3Dreconstructions, especially around occluded or vertical surfaces. In this paper, we propose a modular algorithm that can extend commercial two-dimensional path planners to facilitate terrain-aware planning by adjusting altitude and camera orientations. To demonstrate it, we extend the well-known DARP (Divide Areas for Optimal Multi-Robot Coverage Path Planning) algorithm and produce DARP-3D. We present simulation results in multiple 3D environments and a real-world flight test using DJI hardware. Compared to baseline, our approach consistently captures improved 3D reconstructions, particularly in areas with significant vertical features. An open-source implementation of the algorithm is available here:https://github.com/konskara/TerraPlan |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_17519 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Terrain-Aware Adaptation for Two-Dimensional UAV Path Planners Karakontis, Kostas Petsanis, Thanos Kapoutsis, Athanasios Ch. Kapoutsis, Pavlos Ch. Kosmatopoulos, Elias B. Robotics Multi-UAV Coverage Path Planning (mCPP) algorithms in popular commercial software typically treat a Region of Interest (RoI) only as a 2D plane, ignoring important3D structure characteristics. This leads to incomplete 3Dreconstructions, especially around occluded or vertical surfaces. In this paper, we propose a modular algorithm that can extend commercial two-dimensional path planners to facilitate terrain-aware planning by adjusting altitude and camera orientations. To demonstrate it, we extend the well-known DARP (Divide Areas for Optimal Multi-Robot Coverage Path Planning) algorithm and produce DARP-3D. We present simulation results in multiple 3D environments and a real-world flight test using DJI hardware. Compared to baseline, our approach consistently captures improved 3D reconstructions, particularly in areas with significant vertical features. An open-source implementation of the algorithm is available here:https://github.com/konskara/TerraPlan |
| title | Terrain-Aware Adaptation for Two-Dimensional UAV Path Planners |
| topic | Robotics |
| url | https://arxiv.org/abs/2507.17519 |