Zobrazeno 1 - 10
of 5 086
pro vyhledávání: '"Spasojevic A"'
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing information-rich maps. Further, we develop a parallelized motion planning algorithm that can exploit the Gaussian map for real-time navigatio
Externí odkaz:
http://arxiv.org/abs/2409.18122
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 geometric paths by a team of robots with state-dependent actuation cons
Externí odkaz:
http://arxiv.org/abs/2409.17079
Autor:
Liu, Xu, Lei, Jiuzhou, Prabhu, Ankit, Tao, Yuezhan, Spasojevic, Igor, Chaudhari, Pratik, Atanasov, Nikolay, Kumar, Vijay
This paper develops a real-time decentralized metric-semantic Simultaneous Localization and Mapping (SLAM) approach that leverages a sparse and lightweight object-based representation to enable a heterogeneous robot team to autonomously explore 3D en
Externí odkaz:
http://arxiv.org/abs/2406.17249
We propose an online iterative algorithm to find a suitable 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 of th
Externí odkaz:
http://arxiv.org/abs/2406.09631
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., locating a person in distress. However the true information gained can only
Externí odkaz:
http://arxiv.org/abs/2404.00769
Trajectory generation for quadrotors with limited field-of-view sensors has numerous applications such as aerial exploration, coverage, inspection, videography, and target tracking. Most previous works simplify the task of optimizing yaw trajectories
Externí odkaz:
http://arxiv.org/abs/2403.17067
Autor:
Spasojevic, Irena, Ma, Zheng, Barrera, Aleix, Celegato, Federica, Palau, Ana, Tiberto, Paola, Buchanan, Kristen S., Sort, Jordi
Rapid progress in information technologies has spurred the need for innovative memory concepts, for which advanced data-processing methods and tailor-made materials are required. Here we introduce a previously unexplored nanoscale magnetic object: an
Externí odkaz:
http://arxiv.org/abs/2403.13722
Dithering is a technique that can improve human perception of low-resolution data by reducing quantization artifacts. In this work we formalize and analytically justify two metrics for quantization artifact prominence, using them to design a novel di
Externí odkaz:
http://arxiv.org/abs/2402.16447
This paper presents a novel learning-based trajectory planning framework for quadrotors that combines model-based optimization techniques with deep learning. Specifically, we formulate the trajectory optimization problem as a quadratic programming (Q
Externí odkaz:
http://arxiv.org/abs/2309.15191
Autor:
Boero, Ignacio, Spasojevic, Igor, del Castillo, Mariana, Pappas, George, Kumar, Vijay, Ribeiro, Alejandro
We propose a method for providing communication network infrastructure in autonomous multi-agent teams. In particular, we consider a set of communication agents that are placed alongside regular agents from the system in order to improve the rate of
Externí odkaz:
http://arxiv.org/abs/2309.14284