Mapless-Planner: A Robust and Fast Planning Framework for Aggressive Autonomous Flight without Map Fusion

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless local planner which directly conducts such abstraction on the unfused sensor data. A limited-memory data structure with a reliable proximity query algorithm is proposed for maintaining raw historical information. A sampling-...