相关论文: C-3TO: Continuous 3D Trajectory Optimization on Ne…
Given the evolving application scenarios of current fixed-wing unmanned aerial vehicles (UAVs), it is necessary for UAVs to possess agile and rapid 3-dimensional flight capabilities. Typically, the trajectory of a tail-sitter is generated…
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of…
While Signed Distance Fields (SDF) are well-established for modeling watertight surfaces, Unsigned Distance Fields (UDF) broaden the scope to include open surfaces and models with complex inner structures. Despite their flexibility, UDFs…
We propose a neural network-based computational framework for the simultaneous optimization of structural topology, curved layers, and path orientations to achieve strong anisotropic strength in fiber-reinforced thermoplastic composites…
This paper presents a general end-to-end framework for constructing robust and reliable layered safety filters that can be leveraged to perform dynamic collision avoidance over a broad range of applications using only local perception data.…
Developing appropriate analytic-function-based constitutive models for new materials with nonlinear mechanical behavior is demanding. For such kinds of materials, it is more challenging to realize the integrated design from the collection…
We introduce a novel approach for rendering static and dynamic 3D neural signed distance functions (SDF) in real-time. We rely on nested neighborhoods of zero-level sets of neural SDFs, and mappings between them. This framework supports…
Neural signed distance functions (SDFs) have been a vital representation to represent 3D shapes or scenes with neural networks. An SDF is an implicit function that can query signed distances at specific coordinates for recovering a 3D…
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 convex cover consists of a set of polytopes such that the union…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
Generating receding-horizon motion trajectories for autonomous vehicles in real-time while also providing safety guarantees is challenging. This is because a future trajectory needs to be planned before the previously computed trajectory is…
This paper presents a new approach for 6DoF Direct LiDAR-Inertial Odometry (D-LIO) based on the simultaneous mapping of truncated distance fields on CPU. Such continuous representation (in the vicinity of the points) enables working with…
The unconditioned reflex (e.g., protective reflex), which is the innate reaction of the organism and usually performed through the spinal cord rather than the brain, can enable organisms to escape harms from environments. In this paper, we…
Neural implicit representation of geometric shapes has witnessed considerable advancements in recent years. However, common distance field based implicit representations, specifically signed distance field (SDF) for watertight shapes or…
Robust trajectory optimization enables autonomous systems to operate safely under uncertainty by computing control policies that satisfy the constraints for all bounded disturbances. However, these problems often lead to large Second Order…
In this paper, we investigate an unmanned aerial vehicle (UAV)-assisted Internet-of-Things (IoT) system in a sophisticated three-dimensional (3D) environment, where the UAV's trajectory is optimized to efficiently collect data from multiple…
In unstructured environments, obstacles are diverse and lack lane markings, making trajectory planning for intelligent vehicles a challenging task. Traditional trajectory planning methods typically involve multiple stages, including path…
Gradient-based trajectory optimization (GTO) has gained wide popularity for quadrotor trajectory replanning. However, it suffers from local minima, which is not only fatal to safety but also unfavorable for smooth navigation. In this paper,…
Sequential Convex Programming (SCP) has recently gained popularity as a tool for trajectory optimization due to its sound theoretical properties and practical performance. Yet, most SCP-based methods for trajectory optimization are…