← Back to Benchmarks
simmediumsim-to-realmetric · varies
ImpedanceDiffusion: Diffusion-Based Global Path Planning for UAV Swarm Navigation with Generative Impedance Control
Description
Safe swarm navigation in cluttered indoor environment requires long-horizon planning, reactive obstacle avoidance, and adaptive compliance. We propose ImpedanceDiffusion, a hierarchical framework that leverages image-conditioned diffusion-based global path planning with Artificial Potential Field (APF) tracking and semantic-aware variable impedance control for aerial drone swarms. The diffusion model generates geometric global trajectories directly from RGB images without explicit map construc