6 papers · 1 filter
Multi-Agent Next-Best-View Optimization for Risk-Averse Planning
Amirhossein Mollaei Khass, Vivek Pandey, Guangyi Liu +3
Multi-agent Next-Best-View (NBV) selection for safe path planning in uncertain and unknown environments requires informative, safety-aware, and efficient coordination. Centralized…
Conflict-Aware Active Perception and Control in 3D Gaussian Splatting Fields via Control Barrier Functions
Amirhossein Mollaei Khass, Athanasios Cosse, Vivek Pandey +1
Active perception in uncertain environments requires robots to navigate safely while acquiring informative observations to reduce map uncertainty. These objectives inherently confl…
Efficient Greedy Algorithms for Feature Selection in Robot Visual Localization
Vivek Pandey, Amirhossein Mollaei, Nader Motee
Robot localization is a fundamental component of autonomous navigation in unknown environments. Among various sensing modalities, visual input from cameras plays a central role, en…
Active Next-Best-View Optimization for Risk-Averse Path Planning
Amirhossein Mollaei Khass, Guangyi Liu, Vivek Pandey +4
Safe navigation in uncertain environments requires planning methods that integrate risk aversion with active perception. In this work, we present a unified framework that refines a…
Beyond Uncertainty: Risk-Aware Active View Acquisition for Safe Robot Navigation and 3D Scene Understanding with FisherRF
Guangyi Liu, Wen Jiang, Boshu Lei +3
The active view acquisition problem has been extensively studied in the context of robot navigation using NeRF and 3D Gaussian Splatting. To enhance scene reconstruction efficiency…
Scalable Networked Feature Selection with Randomized Algorithm for Robot Navigation
Vivek Pandey, Arash Amini, Guangyi Liu +4
We address the problem of sparse selection of visual features for localizing a team of robots navigating an unknown environment, where robots can exchange relative position measure…