25 citations · 43 across the 18 of their papers we have counts for
19 papers
Sequence Modeling for Time-Optimal Quadrotor Trajectory Optimization with Sampling-based Robustness Analysis
Katherine Mao, Hongzhan Yu, Ruipeng Zhang +4
Time-optimal trajectories drive quadrotors to their dynamic limits, but computing such trajectories involves solving non-convex problems via iterative nonlinear optimization, makin…
Gaussian Splatting as a Unified Representation for Autonomy in Unstructured Environments
Dexter Ong, Yuezhan Tao, Varun Murali +3
In this work, we argue that Gaussian splatting is a suitable unified representation for autonomous robot navigation in large-scale unstructured outdoor environments. Such environme…
ATLAS Navigator: Active Task-driven LAnguage-embedded Gaussian Splatting
Dexter Ong, Yuezhan Tao, Varun Murali +3
We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on informative metric-semantic maps…
Collision-free time-optimal path parameterization for multi-robot teams
Katherine Mao, Igor Spasojevic, Malakhi Hopkins +2
Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of g…
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…
SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation
Xu Liu, Jiuzhou Lei, Ankit Prabhu +5
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps.…