A three-module mapping, search, and trajectory optimization system lets a LiDAR drone avoid obstacles at up to 15 m/s in dense simulated forests and over 11 m/s outdoors.
Signed distance fields: A natural representation for both mapping and planning,
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HEPP: Hyper-efficient Perception and Planning for High-speed Obstacle Avoidance of UAVs
A three-module mapping, search, and trajectory optimization system lets a LiDAR drone avoid obstacles at up to 15 m/s in dense simulated forests and over 11 m/s outdoors.