arxivcs.RO2026-06-30
Diffusion-based 4D Trajectory Prediction and Distributed Control for UAV Swarms
Tianshun Li, Hongliang Lu, Haoang Li, Xinhu Zheng
Accurate 4D trajectory prediction and closed-loop tracking are essential for Unmanned Aerial Vehicle (UAV) swarms to achieve safe and efficient operations in complex low-altitude environments such as urban airspaces, industrial sites, and indoor facilities. However, this task rem…