Future-Aware Flow Planning for Safe UAV Target Following

• URL: http://arxiv.org/abs/2609.10166v1
• Date: Wed, 09 Sep 2026 13:40:09 GMT
• Title: Future-Aware Flow Planning for Safe UAV Target Following
• Abstract summary: Current-state followers can lag behind turns, choose blocked corridors, or trade tracking for unsafe near-horizon motion.<n>We propose a future-aware flow planning framework for state-informed UAV target following.
• Score: 4.950533201061028
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: UAV target following in cluttered environments is inherently predictive: current-state followers can lag behind turns, choose blocked corridors, or trade tracking for unsafe near-horizon motion. We propose a future-aware flow planning framework for state-informed UAV target following. Predicted target futures guide clean UAV trajectory generation as horizon-aligned residual signals, while risk-scored executable-prefix repair is embedded inside the sampling loop. On fixed ID/OOD receding-horizon benchmarks, the planner improves the intended safety--tracking trade-off rather than dominating every metric: it matches zero measured ID collision rate with the highest ID safe-tracking time, and gives the lowest OOD macro collision rate and final tracking error among the displayed methods, while Future-MPC remains smoother and stronger on some thresholded OOD success metrics under its hand-designed objective. Ablations show that future adaptation improves candidate generation before safety repair, and simulator-facing stress tests probe interface, sensing, and controller-execution effects. These results support horizon-aligned future adaptation and embedded prefix repair as complementary ingredients for safe UAV target following under the tested simulation conditions.

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