FUEL: Fast UAV Exploration Using Incremental Frontier Structure and Hierarchical Planning

@article{Zhou2021FUELFU,
  title={FUEL: Fast UAV Exploration Using Incremental Frontier Structure and Hierarchical Planning},
  author={Boyu Zhou and Yichen Zhang and Xinyi Chen and Shaojie Shen},
  journal={IEEE Robotics and Automation Letters},
  year={2021},
  volume={6},
  pages={779-786}
}
Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles(UAVs). Existing methods, however, were demonstrated to insufficient exploration rate, due to the lack of efficient global coverage, conservative motion plans and low decision frequencies. In this letter, we propose <bold>FUEL</bold>, a hierarchical framework that can support <italic>F</italic>ast <italic>U</italic>AV <italic>E</italic>xp<italic>L</italic>oration in complex unknown environments… 
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