Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe
MAV Navigation in Complex Environments

Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments

7 March 2024

Sotiris Papatheodorou

Stefan Leutenegger

Angela P. Schoellig

ArXiv (abs)PDF HTML

Papers citing "Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments"

9 / 9 papers shown

Title
Perceptive Locomotion through Nonlinear Model Predictive Control R. Grandia Fabian Jenelten Shao-hua Yang Farbod Farshidian Marco Hutter 82 150 0 17 Aug 2022
Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning Lukas Brunke Melissa Greeff Adam W. Hall Zhaocong Yuan Siqi Zhou Jacopo Panerati Angela P. Schoellig OffRL 66 632 0 13 Aug 2021
Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions Sarah Dean Andrew J. Taylor Ryan K. Cosner Benjamin Recht Aaron D. Ames 78 86 0 30 Oct 2020
Multi-Resolution 3D Mapping with Explicit Free Space Representation for Fast and Accurate Mobile Robot Motion Planning Nils Funk J. Tarrio Sotiris Papatheodorou Marija Popović P. Alcantarilla Stefan Leutenegger 58 50 0 15 Oct 2020
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM C. Campos Richard Elvira J. Rodríguez José M.M. Montiel Juan D. Tardós 103 2,893 0 23 Jul 2020
Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function Jun Zeng Bike Zhang Koushil Sreenath 63 277 0 22 Jul 2020
UFOMap: An Efficient Probabilistic 3D Mapping Framework That Embraces the Unknown Daniel Duberg Patric Jensfelt 61 79 0 10 Mar 2020
Learning for Safety-Critical Control with Control Barrier Functions Andrew J. Taylor Andrew W. Singletary Yisong Yue Aaron D. Ames 121 244 0 20 Dec 2019
A General Optimization-based Framework for Global Pose Estimation with Multiple Sensors Tong Qin Shaozu Cao Jie Pan Shaojie Shen 53 324 0 11 Jan 2019

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