Paper ID: 1456 - ISARC 2026 by Gwon, Yun Seok

Title: Safe and Robust Imitation Learning for Drone Navigation in Cluttered Construction Environments Authors: Yun Seok Gwon, Heung Jin Oh Abstract: Autonomous navigation in cluttered construction environments is challenging due to unstructured obstacles, GPS-denied conditions, and operational constraints on onboard computation. Optimization-based planners such as Covariant Hamiltonian Optimization for Motion Planning (CHOMP) offer obstacle-avoidance capabilities but are often unsuitable for high-frequency control due to their computational cost and sensitivity to local ... Keywords: Imitation Learning, Drone Navigation, Control Barrier Functions, Robust Control, PyBullet, Robotics DOI: https://doi.org/10.22260/ISARC2026/0255