ResearchBenchmarksUAV Motion Planning on Horizontal narrow-space scenario 10° Vertical FOVFollow66.04Success RateSUPER7.758422.889238.0253.1508Jun 16, 2026Evaluation ResultsMethodMethodLinksSuccess RateTrajectory Duration (s)Trajectory Length (m)Energy (m²/s⁵)Mean Velocity (m/s)AP/BT Proportion (%)SUPERVertical FOV=10°Vertical FOV=10°2026.0666.04—————FLAPVertical FOV=10°Vertical FOV=10°2026.061069.8588.06170.761.2632.56FMVertical FOV=10°Vertical FOV=10°2026.061085.6876.27162.230.893.39