4 accepted papers
We present a novel 3D reconstruction-based SLAM (Simultaneous Localization and Mapping) approach for robots that leverage multimodal sensory input data, including a camera and a 2D lidar. By integrating these inputs with the gaussian splatting technique, our method significantly enhances performance
Path planning and smooth trajectory generation are critical capabilities for efficient navigation of mobile robots operating in challenging and cluttered environments. For real time and autonomous operations of mobile robots, intelligent algorithms, efficient and light-weight compute, and smooth tra…
In this letter, the problem of collision avoidance of objects, which can deform by changing their shape as a function of time, is considered. There are several scenarios involving such deforming objects-examples include environments with shape shifting robots, such as snake robots, boundaries of swa
In this letter, we present analytical expressions for collision cones associated with a class of hyper quadric surfaces moving in n-dimensional configuration space. Using a relative velocity paradigm, a geometric analysis of the distance, time, and point of closest approach between moving objects in