Maybe my proj interest you since most of these methods does not really solve the problem.

[ZhepeiWang]

I found your repo interesting, especially its corridor generation.
If your are interested in them, maybe you can see my repo:

https://github.com/ZJU-FAST-Lab/GCOPTER

and especially, an self-developed alg for corridor generation:

https://github.com/ZJU-FAST-Lab/GCOPTER/blob/main/gcopter/include/gcopter/firi.hpp

By the way, firi.hpp is actually outdated, my paper about FIRI alg will be released in two month, which solves a lot of problems in the corridor-generation topic. However, even if the currently released code is outdated, it still outperforms all existing methods in corridor generation. Hope it attracts you.