25 citations · 43 across the 18 of their papers we have counts for
6 papers · 1 filter
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…