  In burgeoning domains, like urban goods distribution, the advent of aerial
cargo transportation necessitates the development of routing solutions that
prioritize safety. This paper introduces Larp, a novel path planning framework
that leverages the concept of restrictive potential fields to forge routes
demonstrably safer than those derived from existing methods. The algorithm
achieves it by segmenting a potential field into a hierarchy of cells, each
with a designated restriction zone determined by obstacle proximity. While the
primary impetus behind Larp is to enhance the safety of aerial pathways for
cargo-carrying Unmanned Aerial Vehicles (UAVs), its utility extends to a wide
array of path planning scenarios. Comparative analyses with both established
and contemporary potential field-based methods reveal Larp's proficiency in
maintaining a safe distance from restrictions and its adeptness in
circumventing local minima.
