Behcet Acikmese

Continuous-Time Line-Of-Sight Constrained Trajectory Planning for 6-Degree of Freedom Systems

Perception algorithms are ubiquitous in modern autonomy stacks, providing necessary environmental information to operate in the real world. Many of these algorithms depend on the visibility of keypoints, which must remain within the robot’s line-of-sight (LoS), for reliable operation. This paper tac…