CORTO-Planner

CORTO-Planner is an autonomous navigation system designed to guide agile drones through obstacle-filled environments.

It constructs flexible safe corridors and recalculates routes in real time, helping drones pass through narrow gaps, sharp turns and maze-like layouts while maintaining clearance from obstacles. Evaluations in computer simulations and on physical drones compared its performance with other planning systems, assessing factors such as flight time, speed and usable maneuvering space. The work illustrates how trajectory planning can balance efficient flight with collision avoidance in confined settings.