ResearchBenchmarksUAV Motion Planning on Horizontal narrow-space scenario 90° Vertical FOVUAV Motion Planning on Horizontal narrow-space scenario 90° Vertical FOVFollow40.78Trajectory Duration (s)FLAP40.634441.617242.643.5828Jun 16, 2026Evaluation resultsMethodMethodLinksTrajectory Duration (s)Trajectory Length (m)Energy Cost (m²/s⁵)Mean Velocity (m/s)Success RateAP/BT ProportionFLAPVertical FOV=90°Vertical FOV=90°2026.0640.7872.22138.011.7710027.73SUPERVertical FOV=90°Vertical FOV=90°2026.0641.8581.44171.421.951000.02FMVertical FOV=90°Vertical FOV=90°2026.0644.4269.42137.51.561001.72