Qihao Qian

From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs

Jason Stanley, Zhirui Dai, Qihao Qian, Tzu-Chin Ho, Tianxing Fan, Siddharth Saha, et al.

Autonomous flight in cluttered environments requires a robot to build a geometric map of its surroundings and plan safe, dynamically feasible trajectories, all onboard and in real time. Conventional approaches treat mapping and planning as separate stages and often rely on binary…Read more