Dual Gatekeeper Drone

StartGoal
Scenario 1Narrow passage · two columns, same start and goal height
StartGoal
Scenario 2Spatial course · rise over a wall, descend under a wall, turn around columns
StartGoal
Scenario 3Slalom course · weave around three alternating barriers to a higher goal

Recorded simulations of four planning methods.

0.00 / 20.0 s
Proposed · nominal plans and flightInformative commitment · 0–4 s
Top view · x/y in metres
Committed nominalBackup nominalExecuted trail · moving quadcopterPosition error box sweep
Live plotsCommon simulation clock

Drag coefficient bounds · shaded interval, true value = 0.4

Interval width · logarithmic scale

Accumulated actual mission cost

Speed · m/s

Applied input magnitude · m/s²

Largest position tube radius · m

Tube utilization · limit = 1

x position · m (dashed = nominal)

y position · m (dashed = nominal)

z altitude · m (dashed = nominal)

Arrival is the first recorded state within both the position and speed tolerances (0.02 s sampling). Curves stop at arrival. Drones then remain at their final positions. Uncertainty bands use the recorded identification updates; no learning keeps its original interval.