7 papers
HUNT: High-Speed UAV Navigation and Tracking in Unstructured Environments via Instantaneous Relative Frames
Alessandro Saviolo, Jeffrey Mao, Giuseppe Loianno
Search and rescue operations require unmanned aerial vehicles to both traverse unknown unstructured environments at high speed and track targets once detected. Achieving both capab…
Heterogeneous Self-Play for Realistic Highway Traffic Simulation
Jinkai Qiu, Alessandro Saviolo, Chaojie Wang +2
Realistic highway simulation is critical for scalable safety evaluation of autonomous vehicles, particularly for interactions that are too rare to study from logged data alone. Yet…
NOVA: Navigation via Object-Centric Visual Autonomy for High-Speed Target Tracking in Unstructured GPS-Denied Environments
Alessandro Saviolo, Giuseppe Loianno
Autonomous aerial target tracking in unstructured and GPS-denied environments remains a fundamental challenge in robotics. Many existing methods rely on motion capture systems, pre…
Reactive Collision Avoidance for Safe Agile Navigation
Alessandro Saviolo, Niko Picello, Jeffrey Mao +2
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently chall…
Decentralized Nonlinear Model Predictive Control for Safe Collision Avoidance in Quadrotor Teams with Limited Detection Range
Manohari Goarin, Guanrui Li, Alessandro Saviolo +1
Multi-quadrotor systems face significant challenges in decentralized control, particularly with safety and coordination under sensing and communication limitations. State-of-the-ar…
Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control
Alessandro Saviolo, Jonathan Frey, Abhishek Rathod +2
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence…