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FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots

6 March 2019

L. Han

Fei Gao

Boyu Zhou

Shaojie Shen

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Papers citing "FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots"

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Title
BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field Hardik Parwana Taekyung Kim Kehan Long Bardh Hoxha Hideki Okamoto Georgios Fainekos Dimitra Panagou 10 0 0 08 Jun 2025
Long Duration Inspection of GNSS-Denied Environments with a Tethered UAV-UGV Marsupial System Simón Martínez-Rozas David Alejo José Javier Carpio F. Caballero L. Merino 17 0 0 29 May 2025
Autonomous Flights inside Narrow Tunnels Luqi Wang Yan Ning Hongming Chen Peize Liu Yang Xu Hao Xu X. Lyu Shaojie Shen 66 1 0 26 May 2025
HEPP: Hyper-efficient Perception and Planning for High-speed Obstacle Avoidance of UAVs Minghao Lu Xiyu Fan Bowen Xu Zexuan Yan Rui Peng Han Chen Lixian Zhang Peng Lu 27 0 0 23 May 2025
Real-Time Spatial Reasoning by Mobile Robots for Reconstruction and Navigation in Dynamic LiDAR Scenes Pengdi Huang Mingyang Wang Huan Tian Minglun Gong Hao Zhang Hui Huang 70 0 0 18 May 2025
RINGO: Real-time Navigation with a Guiding Trajectory for Aerial Manipulators in Unknown Environments Zhaopeng Zhang Shizhen Wu Chenfeng Guo Yongchun Fang Jianda Han Xiao Liang 88 0 0 11 Apr 2025
Prof. Robot: Differentiable Robot Rendering Without Static and Self-Collisions Quanyuan Ruan Jiabao Lei Wenhao Yuan Y. Zhang Dekun Lu Guiliang Liu Kui Jia 141 0 0 14 Mar 2025
Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments Linzuo Zhang Yu Hu Yang Deng Feng Yu Danping Zou 85 0 0 13 Mar 2025
Neural Configuration-Space Barriers for Manipulation Planning and Control Kehan Long Ki Myung Brian Lee Nikola Raicevic Niyas Attasseri Melvin Leok Nikolay Atanasov 198 0 0 06 Mar 2025
Local Reactive Control for Mobile Manipulators with Whole-Body Safety in Complex Environments Chunxin Zheng Yuezun Li Zhiyuan Song Zhihai Bi Jinni Zhou Boyu Zhou Jun Ma 141 0 0 06 Jan 2025
Seeing Through Pixel Motion: Learning Obstacle Avoidance from Optical Flow with One Camera Yu Hu Yuang Zhang Yunlong Song Yang Deng Feng Yu Linzuo Zhang Weiyao Lin Danping Zou Wenxian Yu 110 5 0 07 Nov 2024
Physics-informed Neural Mapping and Motion Planning in Unknown Environments Yuchen Liu Ruiqi Ni A. H. Qureshi 84 2 0 13 Oct 2024
RT-GuIDE: Real-Time Gaussian splatting for Information-Driven Exploration Yuezhan Tao Dexter Ong Varun Murali Igor Spasojevic Pratik Chaudhari Vijay Kumar 3DGS 125 7 0 26 Sep 2024
A Robust, Task-Agnostic and Fully-Scalable Voxel Mapping System for Large Scale Environments Jinche La Jun-Gill Kang Dasol Lee 52 0 0 24 Sep 2024
Neural Configuration Distance Function for Continuum Robot Control Kehan Long Hardik Parwana Georgios Fainekos Bardh Hoxha Hideki Okamoto Nikolay Atanasov 162 2 0 20 Sep 2024
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments Kehan Long Yinzhuang Yi Zhirui Dai Sylvia Herbert Jorge Cortés Nikolay Atanasov 312 5 0 28 May 2024
Agile and Safe Trajectory Planning for Quadruped Navigation with Motion Anisotropy Awareness Wentao Zhang Shaohang Xu Peiyuan Cai Lijun Zhu 41 0 0 15 Mar 2024
Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps Timothy Chen O. Shorinwa Joseph Bruno Javier Yu Weijia Zeng Weijia Zeng Keiko Nagami Mac Schwager Mac Schwager 3DGS 128 35 0 05 Mar 2024
Occupancy Grid Mapping without Ray-Casting for High-resolution LiDAR Sensors Yixi Cai Fanze Kong Yunfan Ren Fangcheng Zhu Jiarong Lin Fu Zhang 112 12 0 17 Jul 2023
Pseudo-Trilateral Adversarial Training for Domain Adaptive Traversability Prediction Zheng Chen Durgakant Pushp Jason M. Gregory Lantao Liu AAML 60 1 0 26 Jun 2023
Continuous Implicit SDF Based Any-shape Robot Trajectory Optimization Ting Zhang Jingping Wang Chao Xu Alan Gao Fei Gao 80 10 0 02 Mar 2023
Accurate Gaussian-Process-based Distance Fields with applications to Echolocation and Mapping Cedric Le Gentil Othmane-Latif Ouabi Lan Wu C´edric Pradalier Teresa Vidal-Calleja 71 19 0 25 Feb 2023
SEER: Safe Efficient Exploration for Aerial Robots using Learning to Predict Information Gain Yuezhan Tao Yuwei Wu Beiming Li Fernando Cladera Ojeda Alex Zhou Dinesh Thakur Vijay Kumar 101 41 0 22 Sep 2022
RACER: Rapid Collaborative Exploration with a Decentralized Multi-UAV System Boyu Zhou Hao Xu Shaojie Shen 89 107 0 18 Sep 2022
Vision-aided UAV navigation and dynamic obstacle avoidance using gradient-based B-spline trajectory optimization Zhefan Xu Yumeng Xiu Xiaoyang Zhan Baihan Chen K. Shimada 114 23 0 15 Sep 2022
Log-GPIS-MOP: A Unified Representation for Mapping, Odometry and Planning Lan Wu Ki Myung Brian Lee Cedric Le Gentil Teresa Vidal-Calleja 73 22 0 19 Jun 2022
Dynamic Free-Space Roadmap for Safe Quadrotor Motion Planning Junlong Guo Zhiren Xun Shuang Geng Yi Lin Chao Xu Fei Gao 58 5 0 20 Apr 2022
iSDF: Real-Time Neural Signed Distance Fields for Robot Perception Joseph Ortiz Alexander Clegg Jing Dong Edgar Sucar David Novotny Michael Zollhoefer Mustafa Mukadam 3DV 102 161 0 05 Apr 2022
Path and trajectory planning of a tethered UAV-UGV marsupial robotic system Simón Martínez-Rozas David Alejo F. Caballero L. Merino 54 14 0 04 Apr 2022
Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments Jonas Frey David Hoeller Shehryar Khattak Marco Hutter 106 53 0 29 Mar 2022
A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation Jiawei Chiu Jean-Pierre Sleiman Mayank Mittal Farbod Farshidian Marco Hutter 65 62 0 24 Feb 2022
Motion Primitives-based Navigation Planning using Deep Collision Prediction Huan Nguyen Sondre Holm Fyhn Paolo De Petris Kostas Alexis 77 24 0 10 Jan 2022
GPU Accelerated Voxel Grid Generation for Fast MAV Exploration Charbel Toumieh A. Lambert 126 9 0 25 Dec 2021
From SLAM to Situational Awareness: Challenges and Survey Hriday Bavle Jose Luis Sanchez-Lopez Claudio Cimarelli E. Schmidt H. Voos 177 38 0 01 Oct 2021
Vision-Only Robot Navigation in a Neural Radiance World M. Adamkiewicz Timothy Chen Adam Caccavale Rachel Gardner Preston Culbertson Jeannette Bohg Mac Schwager 268 237 0 01 Oct 2021
Obstacle-aware Waypoint Generation for Long-range Guidance of Deep-Reinforcement-Learning-based Navigation Approaches Linh Kästner Xinlin Zhao Zhengcheng Shen Jens Lambrecht 60 6 0 23 Sep 2021
STD-Trees: Spatio-temporal Deformable Trees for Multirotors Kinodynamic Planning Hongkai Ye Chao Xu Fei Gao 38 2 0 16 Sep 2021
DPMPC-Planner: A real-time UAV trajectory planning framework for complex static environments with dynamic obstacles Zhefan Xu Di Deng Yiping Dong K. Shimada 111 42 0 14 Sep 2021
A review of mobile robot motion planning methods: from classical motion planning workflows to reinforcement learning-based architectures Changyin Sun Zicheng He Chunwei Song Changyin Sun 87 59 0 31 Aug 2021
A Real-Time Online Learning Framework for Joint 3D Reconstruction and Semantic Segmentation of Indoor Scenes Davide Menini Suryansh Kumar Martin R. Oswald Erik Sandström C. Sminchisescu Luc Van Gool 3DV 3DPC MDE 37 24 0 11 Aug 2021
VDB-EDT: An Efficient Euclidean Distance Transform Algorithm Based on VDB Data Structure Delong Zhu Chaoqun Wang Wenshan Wang Rohit Garg Sebastian Scherer Max Meng 45 17 0 10 May 2021
Collision-Free MPC for Legged Robots in Static and Dynamic Scenes Magnus Gaertner Marko Bjelonic Farbod Farshidian Marco Hutter 64 47 0 25 Mar 2021
Simultaneous Scene Reconstruction and Whole-Body Motion Planning for Safe Operation in Dynamic Environments M. N. Finean W. Merkt Ioannis Havoutis 40 9 0 05 Mar 2021
Avoiding dynamic small obstacles with onboard sensing and computating on aerial robots Fanze Kong Wenyuan Xu Fu Zhang 54 8 0 28 Feb 2021
End-to-End UAV Simulation for Visual SLAM and Navigation S. Chen H. Chen W. Zhou Chih-Yung Wen B. Li 6 7 0 01 Dec 2020
Learning Barrier Functions with Memory for Robust Safe Navigation Kehan Long Cheng Qian Jorge Cortés Nikolay Atanasov 98 57 0 03 Nov 2020
Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning Nils Funk J. Tarrio Sotiris Papatheodorou Marija Popović P. Alcantarilla Stefan Leutenegger 95 50 0 15 Oct 2020
EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors Xiaoxia Zhou Zhepei Wang Hongkai Ye Chao Xu Fei Gao 58 300 0 20 Aug 2020
An Augmented Reality Interaction Interface for Autonomous Drone Chuhao Liu Shaojie Shen 58 26 0 05 Aug 2020
RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor Fast Flight Boyu Zhou Jie Pan Fei Gao Shaojie Shen 75 228 0 06 Jul 2020