Sep 2026· International Conference on Electrical Engineering, Computing Science and Automatic Control· pp. 1-6· 0 citations· 37 references
TL;DR
An LLM-guided navigation framework for a single UAV that combines prompt-based semantic action generation with visual-inertial odometry, front-depth sensing, online SLAM, and obstacle-aware motion planning is presented.
Abstract
Autonomous navigation in GPS-denied environments remains a major challenge for unmanned aerial vehicles (UAVs), especially in cluttered scenarios requiring both high-level decision-making and real-time control. This paper presents an LLM-guided navigation framework for a single UAV that combines prompt-based semantic action generation with visual-inertial odometry, front-depth sensing, online SLAM, and obstacle-aware motion planning. To improve real-time applicability, the framework is extended with a drone emulation platform implemented on the FPGA-based Kria KR260, enabling hardware-oriented evaluation of navigation and control functions. Experimental results in indoor-like GPS-denied environments demonstrate accurate path tracking, reliable obstacle avoidance, and robust overall navigation performance, underscoring the promise of FPGA-assisted, LLM-driven UAV navigation.
The synthesis indicates that LiDAR remains a strong perceptual backbone for UAV autonomy, but that state-of-the-art systems increasingly combine it with inertial, visual, radar, and learning-based components rather than relying on LiDAR in isolation.
Svitlana Pavlova, V. Chepizhenko, Fu-Zhong Li et al.· Applied Sciences· 0 citations
Autonomous navigation of multi-rotor Unmanned Aerial Vehicles (UAVs) in complex low-altitude environments remains challenging due to severe onboard computational constraints, sensor blind spots, and unpredictable dynamic obstacles. This paper presents a lightweight, integrated autonomous obstacle avoidance system for q...
Hong-Yu Fan, Yan-Li Wang, Wen-Xuan Chen· International Symposium on S...· 0 citations
Reliable UAV navigation is challenging when direct geometric perception is limited and only sparse environmental observations are available. This paper presents CoSafe-Nav, an integrated navigation framework that uses ultra-wideband (UWB) line-of-sight (LOS) observations to construct a candidate corridor and guide traj...
Autonomous unmanned aerial vehicle (UAV) landing on a moving ship deck is challenging even with Global Positioning System (GPS), and in GPS-denied seas, the vehicle must estimate its motion relative to the heaving deck while committing to a touchdown whose location and time are not yet known. This article presents an i...
Mostafa Abdelkhalek, I. Bayezit· IEEE Transactions on Control...· 0 citations
This paper addresses the autonomous navigation of unmanned aerial vehicles (UAVs) in GNSS-denied environments. A hybrid visual-inertial system based on an Extended Kal-man Filter is proposed. The primary focus is on correcting the scale drift of a monocular camera and enhancing the robustness of the algorithms. The pro...
I. Zanin, E. Anikeev, A. Akimenko· INTELLECTUAL INFORMATION SYS...· 0 citations
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