3 papers
cs.RO2025
Phasing Through the Flames: Rapid Motion Planning with the AGHF PDE for Arbitrary Objective Functions and Constraints
Challen Enninful Adu, César E. Ramos Chuquiure, Yutong Zhou +5
The generation of optimal trajectories for high-dimensional robotic systems under constraints remains computationally challenging due to the need to simultaneously satisfy dynamic…
cs.RO2025
Let's Make a Splan: Risk-Aware Trajectory Optimization in a Normalized Gaussian Splat
Jonathan Michaux, Seth Isaacson, Challen Enninful Adu +6
Neural Radiance Fields and Gaussian Splatting have recently transformed computer vision by enabling photo-realistic representations of complex scenes. However, they have seen limit…
cs.RO2024
Bring the Heat: Rapid Trajectory Optimization with Pseudospectral Techniques and the Affine Geometric Heat Flow Equation
Challen Enninful Adu, César E. Ramos Chuquiure, Bohao Zhang +1
Generating optimal trajectories for high-dimensional robotic systems in a time-efficient manner while adhering to constraints is a challenging task. This paper introduces PHLAME, w…