4 citations · 9 across the 17 of their papers we have counts for
6 papers · 2 filters
MIGHTY: Hermite Spline-based Efficient Trajectory Planning
Kota Kondo, Yuwei Wu, Vijay Kumar +1
Hard-constraint trajectory planners often rely on commercial solvers and demand substantial computational resources. Existing soft-constraint methods achieve faster computation, bu…
Distribution Estimation for Global Data Association via Approximate Bayesian Inference
Yixuan Jia, Mason B. Peterson, Qingyuan Li +2
Global data association is an essential prerequisite for robot operation in environments seen at different times or by different robots. Repetitive or symmetric data creates signif…
Aerobatic maneuvers in insect-scale flapping-wing aerial robots via deep-learned robust tube model predictive control
Yi-Hsuan Hsiao, Andrea Tagliabue, Owen Matteson +4
Aerial insects exhibit highly agile maneuvers such as sharp braking, saccades, and body flips under disturbance. In contrast, insect-scale aerial robots are limited to tracking non…
GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM
Annika Thomas, Aneesa Sonawalla, Alex Rose +1
3D Gaussian splatting has emerged as an expressive scene representation for RGB-D visual SLAM, but its application to large-scale, multi-agent outdoor environments remains unexplor…
Terrain-aware Low Altitude Path Planning
Yixuan Jia, Andrea Tagliabue, Annika Thomas +2
In this paper, we study the problem of generating low-altitude path plans for nap-of-the-earth (NOE) flight in real time with only RGB images from onboard cameras and the vehicle p…
DYNUS: Uncertainty-aware Trajectory Planner in Dynamic Unknown Environments
Kota Kondo, Mason Peterson, Nicholas Rober +5
This paper introduces DYNUS, an uncertainty-aware trajectory planner designed for dynamic unknown environments. Operating in such settings presents many challenges -- most notably,…