LOCOMOTION
DynFly：面向城市环境无人机视觉语言导航的动态感知连续轨迹生成
Wen Jiang, Hanfang Liang, Li Wang, Kangyao Huang, Wang Xu, Wei Fan, Jinyuan Liu, Shaoyu Liu, Hongwei Duan, Bin Xu, Xiangyang Ji, Huaping Liu
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出DynFly框架，通过B样条控制点空间和Spline-DiT生成器，结合流匹配实现从高层导航意图到可执行无人机运动的连续轨迹生成。引入无人机动态感知监督，确保轨迹的连续性、稳定性和可执行性。
关键词
trajectory generationUAVvision-language navigationflow matchingB-spline
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