FALCON: Fast Autonomous Aerial Exploration using Coverage Path Guidance

TL;DR

FALCON is a novel autonomous aerial exploration framework that significantly improves efficiency by integrating hierarchical coverage path planning, connectivity-aware space decomposition, and real-time trajectory optimization, validated through extensive simulations and real-world tests.

Contribution

The paper introduces FALCON, a comprehensive exploration framework combining global and local planning with a new benchmark environment, advancing the state-of-the-art in autonomous aerial exploration.

Findings

FALCON outperforms existing planners in exploration efficiency.

The framework reduces revisitations and traversal time.

Real-world experiments confirm practical effectiveness.

Abstract

This paper introduces FALCON, a novel Fast Autonomous expLoration framework using COverage path guidaNce, which aims at setting a new performance benchmark in the field of autonomous aerial exploration. Despite recent advancements in the domain, existing exploration planners often suffer from inefficiencies such as frequent revisitations of previously explored regions.FALCON effectively harnesses the full potential of online generated coverage paths in enhancing exploration efficiency.The framework begins with an incremental connectivity-aware space decomposition and connectivity graph construction, which facilitate efficient coverage path planning.Subsequently, a hierarchical planner generates a coverage path spanning the entire unexplored space, serving as a global guidance.Then, a local planner optimizes the frontier visitation order, minimizing traversal time while consciously incorporating the intention of the global guidance.Finally, minimum-time smooth and safe trajectories are produced to visit the frontier viewpoints.For fair and comprehensive benchmark experiments, we introduce a lightweight exploration planner evaluation environment that allows for comparing exploration planners across a variety of testing scenarios using an identical quadrotor simulator.Additionally, an in-depth analysis and evaluation is conducted to highlight the significant performance advantages of FALCON in comparison with the state-of-the-art exploration planners based on objective criteria.Extensive ablation studies demonstrate the effectiveness of each component in the proposed framework.Real-world experiments conducted fully onboard further validate FALCON's practical capability in complex and challenging environments.The source code of both the exploration planner FALCON and the exploration planner evaluation environment has been released to benefit the community.