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This manuscript presents enhancements on our motion-primitives explorationpath planning method for agile exploration using aerial robots. The method nowfurther integrates a global planning layer to facilitate reliable large-scaleexploration. The implemented bifurcation between local and global planningallows for efficient exploration combined with the ability to plan within verylarge environments, while also ensuring safe and timely return-to-home. A newset of simulation studies and experimental results are presented to demonstratethe new improvements and enhancements. The method is available open source as aRobot Operating System (ROS) package.

Appendix for the Motion Primitives-based Path Planning for Fast and Agile Exploration Method