Related papers: C-3TO: Continuous 3D Trajectory Optimization on Ne…
The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…
Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade off between path quality, computational complexity, and…
Neural signed distance functions (SDFs) are emerging as an effective representation for 3D shapes. State-of-the-art methods typically encode the SDF with a large, fixed-size neural network to approximate complex shapes with implicit…
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…
Autonomous robots should operate in real-world dynamic environments and collaborate with humans in tight spaces. A key component for allowing robots to leave structured lab and manufacturing settings is their ability to evaluate online and…
Natural disasters often damage ground infrastructure, making unmanned aerial vehicles (UAVs) essential for emergency supply delivery. Yet safe operation in complex post-disaster environments requires reliable command-and-control (C2) links;…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
We present a novel method, called NeuralUDF, for reconstructing surfaces with arbitrary topologies from 2D images via volume rendering. Recent advances in neural rendering based reconstruction have achieved compelling results. However,…
Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…
For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this…
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic trajectory optimization (TO) methods demonstrate success in…
The ability to process environment maps across multiple sessions is critical for robots operating over extended periods of time. Specifically, it is desirable for autonomous agents to detect changes amongst maps of different sessions so as…
This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are continuously differentiable and therefore suitable for use with…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
Scene Completion is the task of completing missing geometry from a partial scan of a scene. Most previous methods compute an implicit representation from range data using a Truncated Signed Distance Function (T-SDF) computed on a 3D grid as…
To be applicable to real world scenarios trajectory planning schemes for mobile autonomous systems must be able to efficiently deal with obstacles in the area of operation. In the context of optimization based trajectory planning and…
In this paper, we investigate a multi-user downlink multiple-input single-output (MISO) unmanned aerial vehicle (UAV) communication system, where a multi-antenna UAV is employed to serve multiple ground terminals. Unlike existing approaches…
Safe operation of systems such as robots requires them to plan and execute trajectories subject to safety constraints. When those systems are subject to uncertainties in their dynamics, it is challenging to ensure that the constraints are…
Generative AI has emerged as a transformative paradigm in engineering design, enabling automated synthesis and reconstruction of complex 3D geometries while preserving feasibility and performance relevance. This paper introduces a…