Rafael Rey

Fast Cost-aware Lazy-Theta over Euclidean distance functions for 3D planning of aerial robots in building-like environments

This paper presents a fast cost-aware any-angle path planning algorithm for aerial robots in 3D building-like environments. The approach integrates Euclidean Distance Fields (EDF) and Lazy Theta* algorithm to compute safe and smooth paths. We show how to consider the analytical proper-ties of EDFs f…