105 citations · 181 across the 16 of their papers we have counts for
8 papers · 1 filter
Monocular Event-Based Vision for Obstacle Avoidance with a Quadrotor
Anish Bhattacharya, Marco Cannici, Nishanth Rao +4
We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered env…
RT-GuIDE: Real-Time Gaussian Splatting for Information-Driven Exploration
Yuezhan Tao, Dexter Ong, Varun Murali +3
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algor…
Hierarchical LLMs In-the-Loop Optimization for Real-Time Multi-Robot Target Tracking under Unknown Hazards
Yuwei Wu, Yuezhan Tao, Peihan Li +4
Real-time multi-robot coordination in hazardous and adversarial environments requires fast, reliable adaptation to dynamic threats. While Large Language Models (LLMs) offer strong…
Safe Interval Motion Planning for Quadrotors in Dynamic Environments
Songhao Huang, Yuwei Wu, Yuezhan Tao +1
Trajectory generation in dynamic environments presents a significant challenge for quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many existing m…
SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation
Xu Liu, Jiuzhou Lei, Ankit Prabhu +5
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps.…
Vision Transformers for End-to-End Vision-Based Quadrotor Obstacle Avoidance
Anish Bhattacharya, Nishanth Rao, Dhruv Parikh +5
We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison…
An Active Perception Game for Robust Exploration
Siming He, Yuezhan Tao, Igor Spasojevic +2
Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locati…
Trajectory Optimization with Global Yaw Parameterization for Field-of-View Constrained Autonomous Flight
Yuwei Wu, Yuezhan Tao, Igor Spasojevic +1
Trajectory generation for quadrotors with limited field-of-view sensors has numerous applications such as aerial exploration, coverage, inspection, videography, and target tracking…