# SCORE：用于封闭、退化环境飞行的形状贴合区域

> 原文链接：https://robotics.hellobike.com/papers/2026-08-15-2608-15289
> 频道：papers | 更新日期：2026-08-15 | 标签：arxiv, cs.RO
> 核心摘要：针对封闭退化环境中无人机避障保守问题，SCORE用SDF定义保形禁入区，并在真实地下数据上验证。

# SCORE：用于封闭、退化环境飞行的形状贴合区域

::: v-pre
> 原文链接：[SCORE: Shape-Conforming Regions for Flight in Enclosed, Degraded Environments](https://arxiv.org/abs/2608.15289)（arXiv 2608.15289 · 发布日期：2026-08-15）

**SCORE: Shape-Conforming Regions for Flight in Enclosed, Degraded Environments**

针对封闭退化环境中无人机避障保守问题，SCORE用SDF定义保形禁入区，并在真实地下数据上验证。

## 核心要点

- 封闭环境会限制无人机并削弱感知，凸禁入区在窄通道中会因膨胀占用空间。
- 方法在SDF上定义非一致性分数，生成贴合障碍几何的非凸禁入区域。
- 通过互补传感观测的体素级并集和可见性自适应边界，维持退化感知下可用性。
- 真实地下数据表明，在相同认证覆盖率下，相比凸基线保留更多自由空间并提升闭环飞行安全。

**验证范围与局限**：验证范围为真实地下数据上的可用自由空间对比与闭环飞行结果。

## 英文摘要 (Abstract)

Autonomous UAVs enter enclosed environments such as caves and collapsed structures that confine the vehicle and degrade perception. Conformal prediction provides a distribution-free guarantee by calibrating how far an obstacle keep-out must expand to absorb perception error at a target coverage level. However, existing keep-out regions use convex primitives whose bulges consume narrow passages and grow as perception degrades. Our main contribution defines the nonconformity score on a signed distance field (SDF). This produces a non-convex keep-out that tightly follows obstacle geometry and avoids the unnecessary bulging of equal-margin convex regions. Two supporting components keep this geometry usable as perception degrades. First, a voxelwise union of complementary sensor observations certifies voxels that any single sensor misses. Second, the margin around the obstacle adapts to measured visibility without weather labels or the online ground-truth feedback that single-pass flight cannot provide. Results on real subterranean data show that the resulting distribution-free, shape-conforming keep-out retains more usable free space than convex baselines at the same certified coverage, and produces safer closed-loop flight.

作者：Eric Minwoo Kim, Jong‐Kook Kim
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## 原始参考来源 (Sources)

- [arXiv 2608.15289：SCORE: Shape-Conforming Regions for Flight in Enclosed, Degraded Environments](https://arxiv.org/abs/2608.15289)