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Future-Aware Flow Planning for Safe UAV Target Following

arXiv · AI, language, vision and robotics · article · Sep 9, 2026 · UTC

UAV target following in cluttered environments is inherently predictive: current-state followers can lag behind turns, choose blocked corridors, or trade tracking for unsafe near-horizon motion. We propose a future-aware flow planning framework for state-informed UAV target following. Predicted target futures guide clean UAV trajectory generation as horizon-aligned residual signals, while risk-scored executable-prefix repair is embedded inside the sampling loop. On fixed ID/OOD receding-horizon benchmarks, the planner improves the intended safety--tracking trade-off rather than dominating ever

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