{"id":"https://openalex.org/W7134816405","doi":"https://doi.org/10.48550/arxiv.2603.07199","title":"Vision-Guided MPPI for Agile Drone Racing: Navigating Arbitrary Gate Poses via Neural Signed Distance Fields","display_name":"Vision-Guided MPPI for Agile Drone Racing: Navigating Arbitrary Gate Poses via Neural Signed Distance Fields","publication_year":2026,"publication_date":"2026-03-07","ids":{"openalex":"https://openalex.org/W7134816405","doi":"https://doi.org/10.48550/arxiv.2603.07199"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.07199","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065634286","display_name":"Fangguo Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Fangguo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128667079","display_name":"Hanbing Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Hanbing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128633626","display_name":"Zhouheng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Zhouheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128633493","display_name":"Xin Guan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guan, Xin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128676615","display_name":"Shuo Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Shuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.28029999136924744,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.28029999136924744,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.16930000483989716,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.08959999680519104,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.6545000076293945},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5047000050544739},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.45329999923706055},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.4372999966144562},{"id":"https://openalex.org/keywords/overfitting","display_name":"Overfitting","score":0.387800008058548},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.35989999771118164},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.3465999960899353},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.33880001306533813},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.32850000262260437}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7301999926567078},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.6545000076293945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6021999716758728},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5504999756813049},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5047000050544739},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.45329999923706055},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.4372999966144562},{"id":"https://openalex.org/C22019652","wikidata":"https://www.wikidata.org/wiki/Q331309","display_name":"Overfitting","level":3,"score":0.387800008058548},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.35989999771118164},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.3465999960899353},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.33880001306533813},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.32850000262260437},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.3142000138759613},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.305400013923645},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.28519999980926514},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.27869999408721924},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.27799999713897705},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2709999978542328},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.2689000070095062},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.2669000029563904},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.26460000872612},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.2632000148296356},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.25679999589920044},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25279998779296875}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.07199","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.07199","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.07199","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.07199","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"drone":[1],"racing":[2],"requires":[3],"the":[4,121,144,186],"tight":[5],"coupling":[6],"of":[7,153],"perception,":[8],"planning,":[9],"and":[10,40,53,81,116,181,193,204],"control":[11,71],"under":[12,172],"extreme":[13],"agility.":[14],"However,":[15],"recent":[16],"approaches":[17],"typically":[18],"rely":[19],"on":[20],"precomputed":[21],"spatial":[22,35,109,149,166],"reference":[23],"trajectories":[24],"or":[25],"explicit":[26],"6-DoF":[27],"gate":[28,202],"pose":[29],"estimation,":[30],"rendering":[31],"them":[32],"brittle":[33],"to":[34,49,85,105,199],"perturbations,":[36],"unmodeled":[37,201],"track":[38,51],"changes,":[39],"sensor":[41],"noise.":[42],"Conversely,":[43],"end-to-end":[44],"learning":[45],"policies":[46],"frequently":[47],"overfit":[48],"specific":[50],"layouts":[52],"struggle":[54],"with":[55],"zero-shot":[56],"generalization.":[57],"To":[58],"address":[59],"these":[60,147],"fundamental":[61],"limitations,":[62],"we":[63],"propose":[64],"a":[65,90,107,131],"fully":[66,140],"onboard,":[67],"vision":[68],"guided":[69],"optimal":[70],"framework":[72,145],"that":[73,111,185],"enables":[74],"reference-free":[75],"agile":[76,191],"flight":[77,192],"through":[78],"arbitrarily":[79],"placed":[80],"oriented":[82],"gates.":[83],"Central":[84],"our":[86,162],"approach":[87],"is":[88],"Gate-SDF,":[89],"novel,":[91],"implicitly":[92],"learned":[93],"neural":[94],"signed":[95],"distance":[96],"field.":[97],"Gate-SDF":[98],"directly":[99],"processes":[100],"raw,":[101],"noisy":[102],"depth":[103],"images":[104],"predict":[106],"continuous":[108,148],"field":[110],"provides":[112],"both":[113],"collision":[114],"repulsion":[115],"active":[117],"geometric":[118],"guidance":[119],"toward":[120],"valid":[122],"traversal":[123],"area.":[124],"We":[125],"seamlessly":[126],"integrate":[127],"this":[128],"representation":[129],"into":[130],"sampling-based":[132],"Model":[133],"Predictive":[134],"Path":[135],"Integral":[136],"(MPPI)":[137],"controller.":[138],"By":[139],"exploiting":[141],"GPU":[142],"parallelism,":[143],"evaluates":[146],"constraints":[150],"across":[151],"thousands":[152],"simulated":[154],"trajectory":[155],"rollouts":[156],"simultaneously":[157],"in":[158],"real":[159],"time.":[160],"Furthermore,":[161],"formulation":[163],"inherently":[164],"maintains":[165],"consistency,":[167],"ensuring":[168],"robust":[169],"navigation":[170],"even":[171],"severe":[173,200],"visual":[174],"occlusion":[175],"during":[176],"aggressive":[177],"maneuvers.":[178],"Extensive":[179],"simulations":[180],"real-world":[182],"experiments":[183],"demonstrate":[184],"proposed":[187],"system":[188],"achieves":[189],"high-speed":[190],"successfully":[194],"navigates":[195],"unseen":[196],"tracks":[197],"subject":[198],"displacements":[203],"orientation":[205],"perturbations.":[206],"Videos":[207],"are":[208],"available":[209],"at":[210],"https://zhaofangguo.github.io/vision_guided_mppi/":[211]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-11T00:00:00"}
