He, Y., Liu, Y., Zhao, W., Lin, H., Zhang, D., Ma, M., Zhou, X., Gao, F., Yu, H., Dai, Z., & Ding, Z. (2026). OmniRisk: Omnidirectional Trajectory-Risk Learning for Agile Quadrotor Dynamic Avoidance. https://omanscience.com/ar/articles/omnirisk-omnidirectional-trajectory-risk-learning-for-agile-quadrotor-dynamic-avoidance