2 papers
cs.RO2020
Rectangular Pyramid Partitioning using Integrated Depth Sensors (RAPPIDS): A Fast Planner for Multicopter Navigation
Nathan Bucki, Junseok Lee, Mark W. Mueller
We present RAPPIDS: a novel collision checking and planning algorithm for multicopters that is capable of quickly finding local collision-free trajectories given a single depth ima…
cs.RO2019
Rapid Collision Detection for Multicopter Trajectories
Nathan Bucki, Mark W. Mueller
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is u…