From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs
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 occupancy for collision checking. We argue that these two stages should be co-designed around a single representation: a signed distance function (SDF). By encoding distance to the nearest obstacle, an SDF provides richer information for planning and trajectory optimization than occupancy alone. We develop an Octree R
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- FuzzyOverlapping authors or contributors · 62%browser-use/browser-use →
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- LinkedLinked via arxiv author · 85%Jason Stanley →
“From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for ”
- LinkedLinked via arxiv author · 85%Zhirui Dai →
“From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for ”
- LinkedLinked via arxiv author · 85%Qihao Qian →
“From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for ”
- LinkedLinked via arxiv author · 85%Tzu-Chin Ho →
“From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for ”
- LinkedLinked via arxiv author · 85%Tianxing Fan →
“From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for ”
- LinkedLinked via arxiv author · 85%Siddharth Saha →
“From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for ”
- LinkedLinked via arxiv author · 85%Christopher Barngrover →
“From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for ”