@misc{takemura2023perception,
  title={Perception-and-Energy-aware Motion Planning for UAV using Learning-based Model under Heteroscedastic Uncertainty},
  author={Reiya Takemura and Genya Ishigami},
  year={2023},
  eprint={2309.14272},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2309.14272}
}