20 citations · 22 across the 14 of their papers we have counts for
4 papers · 1 filter
Neural NMPC through Signed Distance Field Encoding for Collision Avoidance
Martin Jacquet, Marvin Harms, Kostas Alexis
This paper introduces a neural Nonlinear Model Predictive Control (NMPC) framework for mapless, collision-free navigation in unknown environments with Aerial Robots, using onboard…
IMU-Preintegrated Radar Factors for Asynchronous Radar-LiDAR-Inertial SLAM
Johan Hatleskog, Morten Nissov, Kostas Alexis
Fixed-lag Radar-LiDAR-Inertial smoothers conventionally create one factor graph node per measurement to compensate for the lack of time synchronization between radar and LiDAR. For…
Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions
Nazar Misyats, Marvin Harms, Morten Nissov +2
Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely us…
Safe Quadrotor Navigation using Composite Control Barrier Functions
Marvin Harms, Martin Jacquet, Kostas Alexis
This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from…