6 papers
SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments
Kota Kondo, Jesús Tordesillas, Jonathan P. How
SANDO is a safe trajectory planner for 3D dynamic unknown environments, where obstacle locations and motions are unknown a priori and a collision-free plan can become unsafe at any…
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…
Robust Dynamic Object Detection in Cluttered Indoor Scenes via Learned Spatiotemporal Cues
Juan Rached, Yixuan Jia, Kota Kondo +1
Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heu…
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,…
PRIMER: Perception-Aware Robust Learning-based Multiagent Trajectory Planner
Kota Kondo, Claudius T. Tewari, Andrea Tagliabue +4
In decentralized multiagent trajectory planners, agents need to communicate and exchange their positions to generate collision-free trajectories. However, due to localization error…
SOS-Match: Segmentation for Open-Set Robust Correspondence Search and Robot Localization in Unstructured Environments
Annika Thomas, Jouko Kinnari, Parker Lusk +2
We present SOS-Match, a novel framework for detecting and matching objects in unstructured environments. Our system consists of 1) a front-end mapping pipeline using a zero-shot se…