16 citations · 67 across the 45 of their papers we have counts for
55 papers
From Hamilton-Jacobi-Bellman to Riccati via Carleman: The Scalar Case
Philip J. Elias, Qiyu Sun, Nader Motee
The Hamilton-Jacobi-Bellman (HJB) equation of a nonlinear system is a nonlinear partial differential equation, and in that form it gives little away. This paper shows that it hides…
TRACE: Privacy-Preserving Next-Best-View Selection over Distributed 3D Gaussian-Splat Maps
Amirhossein Mollaei Khass, Athanasios Cosse, Qiyu Sun +1
Share the light, not the map. We study next-best-view selection for a team of robots, each of which builds its own 3D Gaussian Splatting map and keeps it private. A robot picks the…
AGILE-GS: Anchor-Guided Fast Next-Best-View Selection for Active 3D Gaussian Splatting
Amirhossein Mollaei Khass, Nader Motee
Radiance fields need hundreds of views, and their placement matters as much as their number. Next-best-view (NBV) selection for 3D Gaussian Splatting (3DGS) usually scores every ca…
LiTe-GS: Oracle-Efficient Next Best View Selection for 3D Gaussian Splatting
Vivek Pandey, Amirhossein Mollaei Khass, Nader Motee
Selecting informative camera views is critical for efficient training and adaptive refinement in 3D Gaussian Splatting, where each observation significantly influences model parame…
Splat-CBF: Safe Next-Best-View Control in 3D Gaussian-Splat Maps
Amirhossein Mollaei Khass, Athanasios Cosse, Nader Motee
Where to look and how to move? A robot navigating an unmapped environment must do both at once, and the two goals pull against each other. The regions most worth observing are the…
SemSafe-3DGS: Semantic Risk-Aware Active Navigation in Uncertain 3D Gaussian Splatting Maps
Amirhossein Mollaei Khass, Athanasios Cosse, Nader Motee
Autonomous robots operating in partially observed environments must navigate safely while acquiring observations that improve future planning. Existing safety formulations generall…