Related papers: Let's Make a Splan: Risk-Aware Trajectory Optimiza…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to ensure humans are not harmed and nearby objects are not…
Multi robot systems have the potential to be utilized in a variety of applications. In most of the previous works, the trajectory generation for multi robot systems is implemented in known environments. To overcome that we present an online…
We propose a method to enhance 3D Gaussian Splatting (3DGS)~\cite{Kerbl2023}, addressing challenges in initialization, optimization, and density control. Gaussian Splatting is an alternative for rendering realistic images while supporting…
Trajectory optimization methods for motion planning attempt to generate trajectories that minimize a suitable objective function. Such methods efficiently find solutions even for high degree-of-freedom robots. However, a globally optimal…
Realizing low-cost communication in robotic mixed reality (RoboMR) systems presents a challenge, due to the necessity of uploading high-resolution images through wireless channels. This paper proposes Gaussian splatting (GS) RoboMR (GSMR),…
Simulating realistic environments for robots is widely recognized as a critical challenge in robot learning, particularly in terms of rendering and physical simulation. This challenge becomes even more pronounced in navigation tasks, where…
3D Gaussian Splatting (3DGS) proposes an efficient solution for novel view synthesis. Its framework provides fast and high-fidelity rendering. Although less complex than other solutions such as Neural Radiance Fields (NeRF), there are still…
Recently, 3D Gaussian splatting has gained attention for its capability to generate high-fidelity rendering results. At the same time, most applications such as games, animation, and AR/VR use mesh-based representations to represent and…
Differentiable rendering techniques have recently shown promising results for free-viewpoint video synthesis of characters. However, such methods, either Gaussian Splatting or neural implicit rendering, typically necessitate per-subject…
Accurate 3D reconstruction of vehicles is vital for applications such as vehicle inspection, predictive maintenance, and urban planning. Existing methods like Neural Radiance Fields and Gaussian Splatting have shown impressive results but…
For robots to robustly understand and interact with the physical world, it is highly beneficial to have a comprehensive representation - modelling geometry, physics, and visual observations - that informs perception, planning, and control…
It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…
Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Image-based surface reconstruction and characterization are crucial for missions to small celestial bodies (e.g., asteroids), as it informs mission planning, navigation, and scientific analysis. Recent advances in Gaussian splatting enable…
3D Gaussian Splatting is emerging as a state-of-the-art technique in novel view synthesis, recognized for its impressive balance between visual quality, speed, and rendering efficiency. However, reliance on third-degree spherical harmonics…
Recently, Gaussian splatting has emerged as a robust technique for representing 3D scenes, enabling real-time rasterization and high-fidelity rendering. However, Gaussians' inherent radial symmetry and smoothness constraints limit their…
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…