ResearchBenchmarksUAV Exploration on SinkholeFollow255.01Exploration Time (s)FU-MPC248.9708289.7354330.5371.2646May 14, 2026Evaluation ResultsMethodMethodLinksExploration Time (s)Trajectory Length (m)Mission CompletionFU-MPCMax Velocity=3.0 m/sMax Velocity=3.0 m/s2026.05255.01607.63—EPICMax Velocity=3.0 m/sMax Velocity=3.0 m/s2026.05405.99779.06—