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RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor
  Fast Flight

RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor Fast Flight

6 July 2020
Boyu Zhou
Jie Pan
Fei Gao
Shaojie Shen
ArXiv (abs)PDFHTML

Papers citing "RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor Fast Flight"

50 / 109 papers shown
STITCHER: Constrained Trajectory Planning in Complex Environments with Real-Time Motion Primitive Search
STITCHER: Constrained Trajectory Planning in Complex Environments with Real-Time Motion Primitive Search
Helene J. Levy
Brett T. Lopez
108
0
0
16 Oct 2025
C-3TO: Continuous 3D Trajectory Optimization on Neural Euclidean Signed Distance Fields
C-3TO: Continuous 3D Trajectory Optimization on Neural Euclidean Signed Distance Fields
Guillermo Gil
J. A. Cobano
L. Merino
F. Caballero
185
1
0
24 Sep 2025
Look as You Leap: Planning Simultaneous Motion and Perception for High-DOF Robots
Look as You Leap: Planning Simultaneous Motion and Perception for High-DOF Robots
Qingxi Meng
Emiliano Flores
Carlos Quintero-Peña
Peizhu Qian
Zachary Kingston
Shannan K. Hamlin
Vaibhav Unhelkar
Lydia E. Kavraki
266
1
0
23 Sep 2025
Fast Trajectory Planner with a Reinforcement Learning-based Controller for Robotic Manipulators
Fast Trajectory Planner with a Reinforcement Learning-based Controller for Robotic ManipulatorsEngineering applications of artificial intelligence (EAAI), 2025
Yongliang Wang
Hamidreza Kasaei
129
0
0
22 Sep 2025
PA-MPPI: Perception-Aware Model Predictive Path Integral Control for Quadrotor Navigation in Unknown Environments
PA-MPPI: Perception-Aware Model Predictive Path Integral Control for Quadrotor Navigation in Unknown Environments
Yifan Zhai
Rudolf Reiter
Davide Scaramuzza
236
5
0
18 Sep 2025
A Survey on LiDAR-based Autonomous Aerial Vehicles
A Survey on LiDAR-based Autonomous Aerial VehiclesIEEE/ASME transactions on mechatronics (TAM), 2025
Yunfan Ren
Yixi Cai
Haotian Li
Nan Chen
Fangcheng Zhu
Longji Yin
Fanze Kong
Rundong Li
Fu Zhang
222
3
0
12 Sep 2025
EAROL: Environmental Augmented Perception-Aware Planning and Robust Odometry via Downward-Mounted Tilted LiDAR
EAROL: Environmental Augmented Perception-Aware Planning and Robust Odometry via Downward-Mounted Tilted LiDAR
Xinkai Liang
Yigu Ge
Yangxi Shi
Haoyu Yang
Xu Cao
Hao Fang
201
0
0
20 Aug 2025
Decision Transformer-Based Drone Trajectory Planning with Dynamic Safety-Efficiency Trade-Offs
Decision Transformer-Based Drone Trajectory Planning with Dynamic Safety-Efficiency Trade-Offs
Chang-Hun Ji
SiWoon Song
Youn-Hee Han
SungTae Moon
409
0
0
29 Jul 2025
Homotopy-aware Multi-agent Navigation via Distributed Model Predictive Control
Homotopy-aware Multi-agent Navigation via Distributed Model Predictive Control
Haoze Dong
Meng Guo
Chengyi He
Zhongkui Li
AI4CE
148
0
0
26 Jul 2025
Unified Linear Parametric Map Modeling and Perception-aware Trajectory Planning for Mobile Robotics
Unified Linear Parametric Map Modeling and Perception-aware Trajectory Planning for Mobile Robotics
Hongyu Nie
Xu Liu
Zhaotong Tan
Sen Mei
Wenbo Su
272
0
0
12 Jul 2025
Time-Optimized Safe Navigation in Unstructured Environments through Learning Based Depth Completion
Time-Optimized Safe Navigation in Unstructured Environments through Learning Based Depth Completion
Jeffrey Mao
Raghuram Cauligi Srinivas
Steven Nogar
Giuseppe Loianno
217
2
0
17 Jun 2025
HEPP: Hyper-efficient Perception and Planning for High-speed Obstacle Avoidance of UAVs
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
194
1
0
23 May 2025
DYNUS: Uncertainty-aware Trajectory Planner in Dynamic Unknown Environments
DYNUS: Uncertainty-aware Trajectory Planner in Dynamic Unknown Environments
Kota Kondo
Mason B. Peterson
Nicholas Rober
Juan Rached Viso
Lucas Jia
Jialin Chen
Harvey Merton
Jonathan P. How
425
3
0
23 Apr 2025
RINGO: Real-time Navigation with a Guiding Trajectory for Aerial Manipulators in Unknown Environments
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
291
0
0
11 Apr 2025
A Self-Supervised Learning Approach with Differentiable Optimization for UAV Trajectory Planning
A Self-Supervised Learning Approach with Differentiable Optimization for UAV Trajectory Planning
Yufei Jiang
Yuanzhu Zhan
Harsh Vardhan Gupta
Chinmay Borde
Junyi Geng
SSL
408
1
0
05 Apr 2025
Perception-aware Planning for Quadrotor Flight in Unknown and Feature-limited Environments
Perception-aware Planning for Quadrotor Flight in Unknown and Feature-limited Environments
Chenxin Yu
Zihong Lu
Jie Mei
Boyu Zhou
265
2
0
19 Mar 2025
Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments
Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments
Linzuo Zhang
Yu Hu
Yang Deng
Feng Yu
Danping Zou
551
3
0
13 Mar 2025
Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey
Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey
Chuqi Wang
Xinlei Chen
Xin Xu
Yuman Gao
Xinyi Yang
...
ZhuoZhu Jian
Xinyu Chen
Fei Gao
Boyu Zhou
Yu Wang
604
17
0
10 Mar 2025
On a Connection Between Imitation Learning and RLHFInternational Conference on Learning Representations (ICLR), 2025
Teng Xiao
Yige Yuan
Mingxiao Li
Ziyang Chen
V. Honavar
206
0
0
07 Mar 2025
Real-Time Sampling-based Online Planning for Drone Interception
Real-Time Sampling-based Online Planning for Drone InterceptionIEEE International Conference on Robotics and Automation (ICRA), 2025
Gilhyun Ryou
Lukas Lao Beyer
S. Karaman
204
0
0
20 Feb 2025
Occlusion-Aware Contingency Safety-Critical Planning for Autonomous Driving
Occlusion-Aware Contingency Safety-Critical Planning for Autonomous Driving
Lei Zheng
Rui Yang
Minzhe Zheng
Zengqi Peng
Michael Yu Wang
Jun Ma
340
4
0
10 Feb 2025
RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation
RAPID: Robust and Agile Planner Using Inverse Reinforcement Learning for Vision-Based Drone Navigation
Minwoo Kim
Geunsik Bae
Jinwoo Lee
Woojae Shin
Changseung Kim
Myong-Yol Choi
Heejung Shin
H. Oh
613
4
0
04 Feb 2025
STITCHER: Real-Time Trajectory Planning with Motion Primitive Search
STITCHER: Real-Time Trajectory Planning with Motion Primitive Search
Helene J. Levy
Brett T. Lopez
400
5
0
30 Dec 2024
Seeing Through Pixel Motion: Learning Obstacle Avoidance from Optical Flow with One Camera
Seeing Through Pixel Motion: Learning Obstacle Avoidance from Optical Flow with One CameraIEEE Robotics and Automation Letters (RA-L), 2024
Yu Hu
Yuang Zhang
Yunlong Song
Yang Deng
Feng Yu
Linzuo Zhang
Weiyao Lin
Danping Zou
Wenxian Yu
479
22
0
07 Nov 2024
An Efficient Representation of Whole-body Model Predictive Control for
  Online Compliant Dual-arm Mobile Manipulation
An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation
Wenqian Du
Ran Long
João Moura
Jiayi Wang
S. Samadi
S. Vijayakumar
216
2
0
30 Oct 2024
Continuous-Time Line-of-Sight Constrained Trajectory Planning for 6-Degree of Freedom Systems
Continuous-Time Line-of-Sight Constrained Trajectory Planning for 6-Degree of Freedom SystemsIEEE Robotics and Automation Letters (RA-L), 2024
Christopher R. Hayner
John M. Carson III
Behçet Açıkmeşe
Karen Leung
265
1
0
29 Oct 2024
Generating and Optimizing Topologically Distinct Guesses for Mobile Manipulator Path Planning with Path Constraints
Generating and Optimizing Topologically Distinct Guesses for Mobile Manipulator Path Planning with Path ConstraintsIEEE Robotics and Automation Letters (RA-L), 2024
Rufus Cheuk Yin Wong
Mayank Sewlia
A. Wiltz
Dimos V. Dimarogonas
138
0
0
27 Oct 2024
Model Predictive Control for Optimal Motion Planning of Unmanned Aerial
  Vehicles
Model Predictive Control for Optimal Motion Planning of Unmanned Aerial Vehicles
Duy-Nam Bui
Thu Hang Thi Khuat
Manh Duong Phung
T. H. Tran
Dong Huu Quoc Tran
207
4
0
13 Oct 2024
A Universal Formulation for Path-Parametric Planning and Control
A Universal Formulation for Path-Parametric Planning and Control
Jon Arrizabalaga
Markus Ryll
Zachary Manchester
Markus Ryll
297
1
0
07 Oct 2024
Real-time Planning of Minimum-time Trajectories for Agile UAV Flight
Real-time Planning of Minimum-time Trajectories for Agile UAV FlightIEEE Robotics and Automation Letters (RA-L), 2024
Krystof Teissing
Matej Novosad
Robert Pěnička
Martin Saska
263
13
0
24 Sep 2024
A Robust, Task-Agnostic and Fully-Scalable Voxel Mapping System for
  Large Scale Environments
A Robust, Task-Agnostic and Fully-Scalable Voxel Mapping System for Large Scale Environments
Jinche La
Jun-Gill Kang
Dasol Lee
220
0
0
24 Sep 2024
Key-Scan-Based Mobile Robot Navigation: Integrated Mapping, Planning,
  and Control using Graphs of Scan Regions
Key-Scan-Based Mobile Robot Navigation: Integrated Mapping, Planning, and Control using Graphs of Scan RegionsIEEE International Conference on Robotics and Automation (ICRA), 2024
Dharshan Bashkaran Latha
Ömür Arslan
213
2
0
20 Sep 2024
Air-FAR: Fast and Adaptable Routing for Aerial Navigation in Large-scale
  Complex Unknown Environments
Air-FAR: Fast and Adaptable Routing for Aerial Navigation in Large-scale Complex Unknown EnvironmentsIEEE International Conference on Robotics and Automation (ICRA), 2024
Botao He
Guofei Chen
Cornelia Fermuller
Yiannis Aloimonos
Ji Zhang
216
0
0
17 Sep 2024
Universal Trajectory Optimization Framework for Differential Drive Robot Class
Universal Trajectory Optimization Framework for Differential Drive Robot ClassIEEE Transactions on Automation Science and Engineering (T-ASE), 2024
Mengke Zhang
Nanhe Chen
Hu Wang
Jianxiong Qiu
Xiaoying Li
Qiuyu Ren
Chao Xu
Fei Gao
Yanjun Cao
315
8
0
12 Sep 2024
Time-Optimal Planning for Long-Range Quadrotor Flights: An Automatic
  Optimal Synthesis Approach
Time-Optimal Planning for Long-Range Quadrotor Flights: An Automatic Optimal Synthesis Approach
Chao Qin
Jingxiang Chen
Yifan Lin
Abhishek Goudar
Angela P. Schoellig
Hugh H. T. Liu
186
5
0
25 Jul 2024
FALCON: Fast Autonomous Aerial Exploration using Coverage Path Guidance
FALCON: Fast Autonomous Aerial Exploration using Coverage Path Guidance
Yichen Zhang
Xinyi Chen
Chen Feng
Boyu Zhou
Shaojie Shen
553
35
0
30 Jun 2024
PRIMER: Perception-Aware Robust Learning-based Multiagent Trajectory Planner
PRIMER: Perception-Aware Robust Learning-based Multiagent Trajectory PlannerIEEE International Conference on Robotics and Automation (ICRA), 2024
Kota Kondo
Claudius T. Tewari
Andrea Tagliabue
J. Tordesillas
Parker C. Lusk
Mason B. Peterson
Jonathan P. How
491
1
0
14 Jun 2024
Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments
Visibility-Aware RRT* for Safety-Critical Navigation of Perception-Limited Robots in Unknown Environments
Taekyung Kim
Dimitra Panagou
354
7
0
11 Jun 2024
Homotopic Path Set Planning for Robot Manipulation and Navigation
Homotopic Path Set Planning for Robot Manipulation and Navigation
Jing Huang
Yunxi Tang
K. W. S. Au
233
7
0
05 Jun 2024
CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning
CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning
Kota Kondo
Andrea Tagliabue
Xiaoyi Cai
Claudius T. Tewari
Olivia Garcia
Marcos Espitia-Alvarez
Jonathan P. How
354
22
0
02 May 2024
SHINE: Social Homology Identification for Navigation in Crowded Environments
SHINE: Social Homology Identification for Navigation in Crowded Environments
Diego Martínez Baselga
O. de Groot
Luzia Knoedler
L. Riazuelo
Javier Alonso-Mora
Luis Montano
330
6
0
25 Apr 2024
Evaluating Dynamic Environment Difficulty for Obstacle Avoidance
  Benchmarking
Evaluating Dynamic Environment Difficulty for Obstacle Avoidance Benchmarking
Moji Shi
Gang Chen
Álvaro Serra-Gómez
Siyuan Wu
Javier Alonso-Mora
480
1
0
23 Apr 2024
Trajectory Optimization with Global Yaw Parameterization for
  Field-of-View Constrained Autonomous Flight
Trajectory Optimization with Global Yaw Parameterization for Field-of-View Constrained Autonomous Flight
Yuwei Wu
Yuezhan Tao
Igor Spasojevic
Vijay Kumar
366
2
0
25 Mar 2024
ODTFormer: Efficient Obstacle Detection and Tracking with Stereo Cameras
  Based on Transformer
ODTFormer: Efficient Obstacle Detection and Tracking with Stereo Cameras Based on Transformer
Tianye Ding
Hongyu Li
Huaizu Jiang
223
1
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21 Mar 2024
Iterative Active-Inactive Obstacle Classification for Time-Optimal
  Collision Avoidance
Iterative Active-Inactive Obstacle Classification for Time-Optimal Collision Avoidance
Mehmetcan Kaymaz
N. K. Üre
223
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APACE: Agile and Perception-Aware Trajectory Generation for Quadrotor
  Flights
APACE: Agile and Perception-Aware Trajectory Generation for Quadrotor FlightsIEEE International Conference on Robotics and Automation (ICRA), 2024
Xinyi Chen
Yichen Zhang
Boyu Zhou
Shaojie Shen
250
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13 Mar 2024
Efficient Global Navigational Planning in 3D Structures based on Point
  Cloud Tomography
Efficient Global Navigational Planning in 3D Structures based on Point Cloud TomographyIEEE/ASME transactions on mechatronics (TAM), 2024
Bowen Yang
Jie Cheng
Bohuan Xue
Jianhao Jiao
Ming-Yuan Liu
226
7
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12 Mar 2024
NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning
NeuPAN: Direct Point Robot Navigation with End-to-End Model-based LearningIEEE Transactions on robotics (IEEE Trans. Robot.), 2024
Ruihua Han
Shuai Wang
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...
Chengyang Li
Chengzhong Xu
Yonina C. Eldar
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3DPC
482
26
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High-Speed Motion Planning for Aerial Swarms in Unknown and Cluttered
  Environments
High-Speed Motion Planning for Aerial Swarms in Unknown and Cluttered Environments
Charbel Toumieh
Dario Floreano
404
22
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29 Feb 2024
Deformable Object Manipulation With Constraints Using Path Set Planning
  and Tracking
Deformable Object Manipulation With Constraints Using Path Set Planning and Tracking
Jing Huang
Xiangyu Chu
Xin Ma
K. W. S. Au
231
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