{
  "id": 12588,
  "url": "https://arxiv.org/abs/2607.19306v1",
  "title": "From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs",
  "summary": "Autonomous flight in cluttered environments requires a robot to build a geometric map of its surroundings and plan safe, dynamically feasible trajectories, all onboard and in real time. Conventional approaches treat mapping and planning as separate stages and often rely on binary occupancy for collision checking. We argue that these two stages should be co-designed around a single representation: a signed distance function (SDF). By encoding distance to the nearest obstacle, an SDF provides rich",
  "authors": "Jason Stanley, Zhirui Dai, Qihao Qian, Tzu-Chin Ho, Tianxing Fan, Siddharth Saha, Christopher Barngrover, Ki Myung Brian Lee, Nikolay Atanasov",
  "category": "research",
  "topics": "agents-autonomy,environment",
  "orgs": null,
  "regions": null,
  "published_at": "2026-07-21T17:18:46.000Z",
  "fetched_at": "2026-07-22T05:10:49.469Z",
  "source_slug": "x-arxiv-cs-ai",
  "source_name": "arXiv cs.AI",
  "source_homepage": "https://arxiv.org/list/cs.AI/recent",
  "ethics_ai_record_url": "https://ethics.ai/record/12588",
  "original_url": "https://arxiv.org/abs/2607.19306v1",
  "evidence_status": "source-only",
  "attribution": "via ethics.ai"
}