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Volumetric Harmonic Field Navigation for Quadrotors
Quadrotor navigation in cluttered 3-D environments requires global guidance while local motion remains subject to collision and motion limits. Harmonic potentials provide dense guidance from a global boundary value problem, but coupling a volumetric harmonic field to constrained physical quadrotor motion remains an open experimental problem. We couple a precomputed volumetric harmonic field with a constrained predictive planner that queries the field at predicted positions instead of extracting a global reference path. In Structured 3-D tests, harmonic guidance yields larger minimum clearance
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- arXiv · AI, language, vision and robotics · 2026-09-14T14:53:37.000Z
First collected: 2026-09-20T09:41:04.278Z. This is not the publication date.