25 citations · 43 across the 18 of their papers we have counts for
17 papers · 1 filter
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.…
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…
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…
Trajectory Optimization with Global Yaw Parameterization for Field-of-View Constrained Autonomous Flight
Yuwei Wu, Yuezhan Tao, Igor Spasojevic +1
Trajectory generation for quadrotors with limited field-of-view sensors has numerous applications such as aerial exploration, coverage, inspection, videography, and target tracking…
Deep Learning for Optimization of Trajectories for Quadrotors
Yuwei Wu, Xiatao Sun, Igor Spasojevic +1
This paper presents a novel learning-based trajectory planning framework for quadrotors that combines model-based optimization techniques with deep learning. Specifically, we formu…
TOPPQuad: Dynamically-Feasible Time Optimal Path Parametrization for Quadrotors
Katherine Mao, Igor Spasojevic, M. Ani Hsieh +1
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given coll…
3D Active Metric-Semantic SLAM
Yuezhan Tao, Xu Liu, Igor Spasojevic +2
In this letter, we address the problem of exploration and metric-semantic mapping of multi-floor GPS-denied indoor environments using Size Weight and Power (SWaP) constrained aeria…
Robust Localization of Aerial Vehicles via Active Control of Identical Ground Vehicles
Igor Spasojevic, Xu Liu, Ankit Prabhu +3
This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identica…
A Data-Driven Approach to Synthesizing Dynamics-Aware Trajectories for Underactuated Robotic Systems
Anusha Srikanthan, Fengjun Yang, Igor Spasojevic +3
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer use…
Active Collaborative Localization in Heterogeneous Robot Teams
Igor Spasojevic, Xu Liu, Alejandro Ribeiro +2
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) co…
Perception-aware time optimal path parameterization for quadrotors
Igor Spasojevic, Varun Murali, Sertac Karaman
The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path pa…
Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm
Igor Spasojevic, Varun Murali, Sertac Karaman
Time Optimal Path Parametrization is the problem of minimizing the time interval during which an actuation constrained agent can traverse a given path. Recently, an efficient linea…