Wen-Chi Tsai, Yi-Peng Liu, Yu Wu, Yun-Sheng Chen, Chung-Lun Lai, Yu-Yu Chang, Min-Te Sun
Ubi-Media Computing, Pervasive Systems, Algorithms and Networks (Ubi-Media 2026) 2026 Communications in Computer and Information Science, vol. 2940, pp. 242-259
A dual-strategy planner for autonomous inspection of building structures: layered MST-DFS for traversing structured space, with collision-aware A* replanning when the structure blocks the tour. Evaluated in AirSim on real-world building models, generating paths over 5x faster with up to 14% shorter routes, both fully collision-free.
Wen-Chi Tsai, Yi-Peng Liu, Yu Wu, Yun-Sheng Chen, Chung-Lun Lai, Yu-Yu Chang, Min-Te Sun
Ubi-Media Computing, Pervasive Systems, Algorithms and Networks (Ubi-Media 2026) 2026 Communications in Computer and Information Science, vol. 2940, pp. 242-259
A dual-strategy planner for autonomous inspection of building structures: layered MST-DFS for traversing structured space, with collision-aware A* replanning when the structure blocks the tour. Evaluated in AirSim on real-world building models, generating paths over 5x faster with up to 14% shorter routes, both fully collision-free.