智能规划无人机3D路径，兼顾效率与社会影响。
Flying over The Uncertain Nature (FORTUNE): Intelligent and Humanistic 3D Path Planning for Low-Altitude Collaboration
- 分层框架预测需求并生成协同飞行计划。
- 真实数据测试中优于现有方法，可处理突发任务。
- 适合城市低空无人机协同作业场景。
低空智能体的普及使得动态城市环境中及时且负责任的协同感知需求增加。然而，同时应对异质时空需求、环境不确定性与以人为本的操作约束仍具挑战。本文研究在不确定地面兴趣点（PoI）需求下的三维多无人机路径规划与任务分配问题。不同于以往假设静态已知兴趣点的工作，我们在一个统一框架内建模持久性、时间可预测性和突发性需求。进一步引入依赖高度的社会与环境成本，包括噪声暴露和公共安全风险，以平衡感知性能与社会合规性。为求解由此产生的大规模混合整数非线性问题，提出FORTUNE——一种分层离线-在线框架。离线阶段，基于Transformer预测类型II PoI激活窗口，改进的麻雀搜索算法通过优先级感知解码与危险感知演化生成协调飞行方案；在线阶段，轻量级精修模块可适应突发类型III PoI，同时保持全局任务一致性。在真实交通数据与合成场景上的实验表明，FORTUNE在有效性、可扩展性与实用性方面持续优于现有最先进方法。
原文摘要 · Abstract (English)
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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