Real-time UAV path-terrain collision evaluation on FPGA
Bibliographic record
Abstract
One of the most fundamental element of the Unmanned Aerial Vehicles (UAV) path planning is the assurance that the path planned avoids any terrain collision. The task to “evaluate how much a UAV path is in collision with the terrain” is particularly crucial for path planners that are optimizing random generated paths. This terrain collision evaluation task can be computationally demanding and its computation time depends on the environment representation used. This paper presents a Field Programmable Gate Arrays (FPGA) based design of a UAV terrain collision evaluator that evaluates in parallel segments of the path in real-time. Its worst case computation time has a fixed upper bounded, based on the size of the map. For a 500×500 grid map, this upper bound is 1.9 μs, which is a promising result for future UAV real-time path planners.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".