言語指示で誘導するドローン経路計画の拡張サブセットサンプリング
Extended LASMP: Language Aided Subset Sampling Based Motion Planner for Drone Navigation
自然言語の指示を大規模言語モデルで幾何制約に変換し、指示に沿った領域へサンプリングを絞ることで、3次元環境でのドローン経路計画を効率化した研究。
著者: Saswati Bhattacharjee, Anirban Sinha, Mukulika Ghosh, Chinwe Ekenna
分類: cs.RO, cs.AI
原文アブストラクト
This paper proposes a command-aligned sampling distribution that incorporates navigation commands directly into the exploration process to improve the efficiency of sampling-based motion planning for quadcopters in three-dimensional environments. Inspired by the Language-Aided Subset Sampling Motion Planner, this paper extends command-aware subset sampling to aerial systems. Subset sampling is generalized to command-aligned regions, enabling structured 3D exploration while preserving probabilistic completeness. Natural language instructions are grounded into yaw-conditioned and altitude-aware geometric constraints using a prompt-based large language model for entity extraction and instruction validation. Extensive simulations in complex environments demonstrate that the proposed method generates collision-free, consistent trajectories while significantly reducing sampling effort compared to uniform RRT-based planners.