TRUST-Planner: Topology-guided Robust Trajectory Planner for AAVs with Uncertain Obstacle Spatial-temporal Avoidance

Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address these challenges, we present TRUST-Planner, a topology-guided hierarchical planning framework for robust spatial-temporal obstacle avoidance. In the frontend, a dynamic enhanced visible probabilistic roadmap (DEV-PRM) is proposed to rapidly explore topological paths for global guidance. The backend utilizes a uniform terminal-free minimum control polynomial (UTF-MINCO) and dynamic distance field (DDF) to enable efficient predictive obstacle avoidance and fast parallel computation. Furthermore, an incremental multi-branch trajectory management framework is introduced to enable spatio-temporal topological decision-making, while efficiently leveraging historical information to reduce replanning time. Simulation results show that TRUST-Planner outperforms baseline competitors, achieving a 96\% success rate and millisecond-level computation efficiency in tested complex environments. Real-world experiments further validate the feasibility and practicality of the proposed method.

Compatible Learning for Deep Photonic Neural Network

Realization of deep learning with coherent optical field has attracted remarkably attentions presently, which benefits on the fact that optical matrix manipulation can be executed at speed of light with inherent parallel computation as well as low latency. Photonic neural network has a significant potential for prediction-oriented tasks. Yet, real-value Backpropagation behaves somewhat intractably for coherent photonic intelligent training. We develop a compatible learning protocol in complex space, of which nonlinear activation could be selected efficiently depending on the unveiled compatible condition. Compatibility indicates that matrix representation in complex space covers its real counterpart, which could enable a single channel mingled training in real and complex space as a unified model. The phase logical XOR gate with Mach-Zehnder interferometers and diffractive neural network with optical modulation mechanism, implementing intelligent weight learned from compatible learning, are presented to prove the availability. Compatible learning opens an envisaged window for deep photonic neural network.