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arXiv · 2610.34054

Extended LASMP: Language Aided Subset Sampling Based Motion Planner for Drone Navigation

Saswati Bhattacharjee·Anirban Sinha·Mukulika Ghosh·Chinwe Ekenna
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Abstract

This paper proposes a command-aligned sampling distribution that incorporates navigation commands directly into the exploration process to improve the efficiency of sampling-based motion planning for quadcopters in three-dimensional environments. Inspired by the Language-Aided Subset Sampling Motion Planner, this paper extends command-aware subset sampling to aerial systems. Subset sampling is generalized to command-aligned regions, enabling structured 3D exploration while preserving probabilistic completeness. Natural language instructions are grounded into yaw-conditioned and altitude-aware geometric constraints using a prompt-based large language model for entity extraction and instruction validation. Extensive simulations in complex environments demonstrate that the proposed method generates collision-free, consistent trajectories while significantly reducing sampling effort compared to uniform RRT-based planners.

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Saswati Bhattacharjee, Anirban Sinha, Mukulika Ghosh, Chinwe Ekenna. 2026-10-25. Extended LASMP: Language Aided Subset Sampling Based Motion Planner for Drone Navigation. https://arxiv.org/abs/2610.34054

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