3 papers
cs.RO2026
FastBridge: Closing the Model-Based Realization Gap in Safety Filters on 3D Gaussian Splatting for Fast Quadrotor Flight
Tscholl Dario, Nakka Yashwanth Kumar, Gunter Brian
Fast quadrotor flight requires safe obstacle avoidance under tight onboard compute limits. While 3D Gaussian Splatting (3DGS) provides a continuous, geometry-aware scene representa…
cs.RO2025
Perception-Integrated Safety Critical Control via Analytic Collision Cone Barrier Functions on 3D Gaussian Splatting
Dario Tscholl, Yashwanth Nakka, Brian Gunter
We present a perception-driven safety filter that converts each 3D Gaussian Splat (3DGS) into a closed-form forward collision cone, which in turn yields a first-order control barri…
cs.RO2024
SSPARE: Space Solar Power Autonomously Reconfigurable Elements
Dario Tscholl, Brian Gunter
GEO communication satellites generate significant revenue but can only function reliably for approximately 10 years on orbit. One of the main drivers that limits the reliability of…