Han Zheng, Zhe Chen, Yiwen Fu, Ming Yang, Tong Qin*
Code will be updated soon！
SCAN-Planner is a spatial collision-aware local planner, providing a robust low-level planning foundation for various upper-level tasks, such as autonomous exploration and vision-language navigation. For a VLN-related work, please refer to TravExplorer.
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More videos and interactive demonstrations are available on the project page.
@article{zheng2026scan,
title={SCAN-Planner: Spatial Collision-Aware Local Planning for Route-Guided Long-Range Quadruped Navigation},
author={Zheng, Han and Chen, Zhe and Fu, Yiwen and Yang, Ming and Qin, Tong},
journal={arXiv preprint arXiv:2606.19555},
year={2026}
}This project is licensed under the Apache License 2.0. See LICENSE for details.