ResearchBenchmarksAerial 3D exploration on Indoor Layout 1Aerial 3D exploration on Indoor Layout 1Follow2,647.4Coverage Distance AUCOPAL-NFP2,395.9282,461.2142,526.52,591.786May 25, 2026Evaluation resultsMethodMethodLinksCoverage Distance AUCDistance (m)Total elapsed time (s)OPAL-NFPRadius (rv)=3.5Radius (rv)=3.52026.052,647.421.956OPAL-VRadius (rv)=3.5Radius (rv)=3.52026.052,544.825.5132.7FALCON2026.052,405.62636.7