ResearchBenchmarksUAV Motion Planning on Horizontal narrow-space scenario 0.2° Vertical FOVUAV Motion Planning on Horizontal narrow-space scenario 0.2° Vertical FOVFollow39.74Success RateSUPER4.650413.760222.8731.9798Jun 16, 2026Evaluation resultsMethodMethodLinksSuccess RateTrajectory Duration (s)Trajectory Length (m)Energy Cost (m²/s⁵)Mean Velocity (m/s)AP/BT Proportion (%)SUPERVertical FOV=0.2°Vertical FOV=0.2°2026.0639.74—————FLAPVertical FOV=0.2°Vertical FOV=0.2°2026.066155.55115.22288.70.7440.72