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arXiv · 2608.03408

Flying over The Uncertain Nature (FORTUNE): Intelligent and Humanistic 3D Path Planning for Low-Altitude Collaboration

Minghui Liwang·Wenhan Jia·Xinlei Yi·Wenbo Zhu·Yuhan Su·Xianbin Wang
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Abstract

The proliferation of low-altitude intelligent agents is increasing the demand for timely and socially responsible collaborative sensing in dynamic urban environments. However, jointly addressing heterogeneous spatiotemporal demands, environmental uncertainty, and human-centered operational constraints remains challenging. This paper studies 3D multi-UAV path planning and task assignment under uncertain ground PoI demands. Unlike existing work assuming static and fully known PoIs, we model persistent, temporally predictable, and emergent demands within a unified framework. We further incorporate altitude-dependent societal and environmental costs, including noise exposure and public safety risks, to balance sensing performance with socially compliant operations. To solve the resulting large-scale mixed-integer nonlinear problem, we propose FORTUNE, a hierarchical offline-online framework. Offline, a Transformer predicts Type-II PoI activation windows, while an enhanced sparrow search algorithm generates coordinated flight plans through priority-aware decoding and danger-aware evolution. Online, a lightweight refinement module accommodates emerging Type-III PoIs while preserving global mission coherence. Experiments on real-world traffic data and synthetic scenarios show that FORTUNE consistently outperforms state-of-the-art methods in effectiveness, scalability, and practical applicability.

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Minghui Liwang, Wenhan Jia, Xinlei Yi, Wenbo Zhu, Yuhan Su, Xianbin Wang. 2026-08-04. Flying over The Uncertain Nature (FORTUNE): Intelligent and Humanistic 3D Path Planning for Low-Altitude Collaboration. https://arxiv.org/abs/2608.03408

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