ResearchBenchmarksUAV Motion Planning on Horizontal narrow-space scenario 30° Vertical FOVUAV Motion Planning on Horizontal narrow-space scenario 30° Vertical FOVFollow79.19Success RateSUPER7.232425.913744.59563.2763Jun 16, 2026Evaluation resultsMethodMethodLinksSuccess RateTrajectory Duration (s)Trajectory Length (m)Energy (m²/s⁵)Mean Velocity (m/s)AP/BT Proportion (%)SUPERVertical FOV=30°Vertical FOV=30°2026.0679.19—————FLAPVertical FOV=30°Vertical FOV=30°2026.061051.8177.38188.011.4931.86FMVertical FOV=30°Vertical FOV=30°2026.061055.0973.56158.341.344.94