Posts tagged Xuning Yang
Reactive Collision Avoidance using Real-Time Local Gaussian Mixture Model Maps

A robot flying in unknown cluttered environments must be able to create a real-time map of its immediate surroundings and make sure that it does not collide into any obstacles. In this work, we propose representing the world as a mixture of Gaussian distributions, which enables us to represent the environment as a compressed and succinct representation. We use the geometric properties of this representation to enable efficient collision checking the robot surroundings.

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Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor

We present a system capable of flying fast and with agility while avoiding obstacles and obeying user commands. Our flying hexarotor robot can be flown as aggressively as a racing drone by an untrained operator while actively avoiding collisions with the surrounding environment.

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