1 citations · 3 across the 5 of their papers we have counts for
7 papers
CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning
Kota Kondo, Andrea Tagliabue, Xiaoyi Cai +4
Traditional optimization-based planners, while effective, suffer from high computational costs, resulting in slow trajectory generation. A successful strategy to reduce computation…
Risk-Aware Off-Road Navigation via a Learned Speed Distribution Map
Xiaoyi Cai, Michael Everett, Jonathan Fink +1
Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fal…
A Safety and Passivity Filter for Robot Teleoperation Systems
Gennaro Notomista, Xiaoyi Cai
In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the r…
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments
Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai +4
State estimation for robots navigating in GPS-denied and perceptually-degraded environments, such as underground tunnels, mines and planetary subsurface voids, remains challenging…
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi +3
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between inf…
A Distributed Pipeline for Scalable, Deconflicted Formation Flying
Parker C. Lusk, Xiaoyi Cai, Samir Wadhwania +3
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environm…