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Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps
Timothy Chen;Ola Shorinwa;Joseph Bruno;Aiden Swann;Javier Yu;Weijia Zeng;Keiko Nagami;Philip Dames;Mac Schwager
IEEE Transactions on Robotics
Year: 2025 | Early Access Article |
We present Splat-Nav, a real-time robot navigation pipeline for Gaussian Splatting (GSplat) scenes, a powerful new 3D scene representation. Splat-Nav consists of two components: 1) Splat-Plan, a safe planning module, and 2) Splat-Loc, a robust vision-based pose estimation module. Splat-Plan builds a safe-by-construction polytope corridor through the map based on mathematically rigorous collision c...Show More
Canonical Factors for Hybrid Neural Fields
2023 IEEE/CVF International Conference on Computer Vision (ICCV)
Year: 2023 | Conference Paper |
Cited by: Papers (3)
Factored feature volumes offer a simple way to build more compact, efficient, and intepretable neural fields, but also introduce biases that are not necessarily beneficial for realworld data. In this work, we (1) characterize the undesirable biases that these architectures have for axis-aligned signals—they can lead to radiance field reconstruction differences of as high as 2 PSNR—and (2) explore ...Show More
Optimization and Trajectory Tracking of Deep Stall Landing for a Variable Forward-swept Wing UAV
2022 5th International Symposium on Autonomous Systems (ISAS)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
This paper presents a trajectory optimization and robust trajectory tracking of deep stall landing for a variable forward-swept wing unmanned aerial vehicle (UAV). Firstly, the longitudinal dynamics model of a variable forward-swept wing UAV is established, and the aerodynamic parameters in a wide-range angle of attack (AOA) are obtained using computational fluid dynamics (CFD). Then, considering ...Show More
Optimization of deep stall landing trajectory for morphing aided UAV
2021 33rd Chinese Control and Decision Conference (CCDC)
Year: 2021 | Conference Paper |
Cited by: Papers (1)
In order to recover small unmanned aerial vehicles (UAVs) at a confined area, deep stall landing is investigated for UAV aided by morphing wing. Inspired by perching maneuver of birds, morphing wing is adopted to gain extra controllability during deep stall landing. Constraints like terminal velocity, sink rate, terminal attitude, down range of approach, input saturation, etc are considered. Then,...Show More
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