Low-Latency Mapless ESDF Queries for MAV Reactive Collision
Overview
Source roundup from published reports. Claims below are attributed to their publishers, not independently verified. arXiv Robotics — research abstracts: Low-Latency Mapless ESDF Queries for MAV Reactive Collision Avoidance. This research proposes a GPU-accelerated, mapless ESDF query method for reactive collision avoidance in MAVs, achieving lower latency and higher accuracy than voxel-grid approaches. The method processes depth images dire…
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Reported quantity · maximum speed: 9 other · Basis not reported · Differing source assertions
“neously more accurate and lower in total latency than every voxel-grid configuration we measured between 2 cm and 20 cm, at one to two orders of magnitude less memory at matched resolution. With our query integrated into a Model Predictive Controller (MPC), simulated runs in laser-scanned forests at up to 9 m/s collide in 0.4 % through dense branches, against 5.9 % with the best voxel grid and 5.5 % with the best map”
Exact source · revision 1Source owner not reported
Reported quantity · maximum speed: 4 other · Basis not reported · Differing source assertions
“less baseline at our resolution, whose failures we attribute to voxel resolution and total latency respectively. We deploy the system onboard at two forest sites and fly at commanded speeds of up to 4 m/s.”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsLow-Latency Mapless ESDF Queries for MAV Reactive Collision Avoidance
This research proposes a GPU-accelerated, mapless ESDF query method for reactive collision avoidance in MAVs, achieving lower latency and higher accuracy than voxel-grid approaches. The method processes depth images directly, avoiding pre-processing, and is integrated into an MPC for real-world deployment in forest environments.
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