ResearchBenchmarksUAV Exploration on Lava tubeFollow138.11Exploration Time (s)FU-MPC129.238189.124249.01308.896May 14, 2026Evaluation ResultsMethodMethodLinksExploration Time (s)Trajectory Length (m)Exploration Completion StatusFU-MPCMax Velocity=3.0 m/sMax Velocity=3.0 m/s2026.05138.11343.17—EPICMax Velocity=3.0 m/sMax Velocity=3.0 m/s2026.05359.91338.67—