Extended LASMP：基于语言辅助子集采样的无人机导航运动规划器
Extended LASMP: Language Aided Subset Sampling Based Motion Planner for Drone Navigation
AI 导读
arXiv 论文提出 Extended LASMP，将导航指令直接融入采样分布，把命令感知子集采样扩展到四旋翼无人机的三维运动规划。该方法用基于提示词的大语言模型进行实体提取与指令校验，将自然语言指令转化为偏航条件与高度感知的几何约束，同时保持概率完备性。复杂环境仿真显示，相比均匀 RRT 规划器，该方法能生成无碰撞、一致的轨迹并显著降低采样开销。
正文 · 原文
Abstract:This paper proposes a command-aligned sampling distribution that incorporates navigation commands directly into the exploration process to improve the efficiency of sampling-based motion planning for quadcopters in three-dimensional environments. Inspired by the Language-Aided Subset Sampling Motion Planner, this paper extends command-aware subset sampling to aerial systems. Subset sampling is generalized to command-aligned regions, enabling structured 3D exploration while preserving probabilistic completeness. Natural language instructions are grounded into yaw-conditioned and altitude-aware geometric constraints using a prompt-based large language model for entity extraction and instruction validation. Extensive simulations in complex environments demonstrate that the proposed method generates collision-free, consistent trajectories while significantly reducing sampling effort compared to uniform RRT-based planners.
| Subjects: | Robotics (cs.RO); Artificial Intelligence (cs.AI) |
| Cite as: | arXiv:2610.34054 [cs.RO] |
| (or arXiv:2610.34054v1 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2610.34054 arXiv-issued DOI via DataCite (pending registration) |
Submission history
From: Saswati Bhattacharjee [view email]
[v1]
Sun, 25 Oct 2026 04:30:15 UTC (5,093 KB)
来源：arXiv cs.AI · arxiv.org