6 papers
Learning Smooth SE(3) Trajectories under Left-Invariant Riemannian Metrics
Yuwei Wu, Vijay Kumar
Optimal trajectory generation for rigid-body motions on Lie groups can be formulated as a variational problem that minimizes energy functionals defined by Riemannian metrics. While…
An Active Perception Game for Robust Exploration
Siming He, Yuezhan Tao, Igor Spasojevic +2
Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locati…
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…
RT-GuIDE: Real-Time Gaussian Splatting for Information-Driven Exploration
Yuezhan Tao, Dexter Ong, Varun Murali +3
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algor…
Towards Optimizing a Convex Cover of Collision-Free Space for Trajectory Generation
Yuwei Wu, Igor Spasojevic, Pratik Chaudhari +1
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The conv…
Safe Interval Motion Planning for Quadrotors in Dynamic Environments
Songhao Huang, Yuwei Wu, Yuezhan Tao +1
Trajectory generation in dynamic environments presents a significant challenge for quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many existing m…