Robust Planning System for Fast Autonomous Flight in Complex Unknown Environment Using Sparse Directed Frontier Points
Round 1
Reviewer 1 Report
Well-structured research work.
MINOR CHANGES: Please enhance the discussion of your experimental results to showcase the efficiency of the proposed system.
Author Response
Dear reviewer,
Thanks a lot for your good and detailed suggestions! We have revised our paper carefully according to your good suggestions. Please see the attachment for detailed responses.
Author Response File: 
Author Response.pdf
Reviewer 2 Report
The paper deals with a very current topic from the 3D path planning field which is necessary condition for fully autonomous unmanned aerial system. The article is clear and understable. I hope that final LRPS algorithm will be open-source and sharedable as package implemented in ROS/ROS 2.0 enviroment.
Author Response
Dear reviewer,
Thanks a lot for your recognition and support of our paper! And our code will be open source soon in our github (https://github.com/Zyhlibrary/LRPS). Thanks again for your recognition and support!
Reviewer 3 Report
The paper addresses a very important topic in the field of UAVs - that of trajectory planning under various, but little known, constraints. Although it is of good quality, well structured and correctly grounded, I suggest that the work can be improved in terms of the following aspects:
- necessarily, certain phrases/sentences must be revised, those which alter the quality of expression in English. Some of them unnecessarily start with “and”, which sometimes becomes annoying.
- repositioning of some figures (closer to the place in the text where they were referred to), e.g. Fig.1 is included in the text in section 2, on the third page of the paper, but it is mentioned only in the third section, on the following page.
- checking for possible (otherwise non-essential) omissions, such as: in line 236 and 249 are mentioned lambda 1,2 and 3, but lambda 3 does not appear explicitly among the following expressions (8), (9), (10).......
- expanding the Conclusions-section, possibly by transferring some of those already presented in the results section.
Author Response
Dear reviewer,
Thanks a lot for your good and detailed suggestions! We have revised our paper carefully according to your good suggestions! Please see the attachment for detailed responses.
Author Response File: Author Response.pdf
