FastBridge: 3Dガウススプラッティングを用いた高速クアッドロータ飛行におけるモデルベース実現ギャップを埋める安全フィルタ
FastBridge: Closing the Model-Based Realization Gap in Safety Filters on 3D Gaussian Splatting for Fast Quadrotor Flight
3DGS安全フィルタのモデル化ギャップを埋めるため、アクチュエータ制約を考慮した非線形安全フィルタを提案し、ジョーク低減と高速化を実現した。
著者: Tscholl Dario, Nakka Yashwanth Kumar, Gunter Brian
分類: cs.RO
原文アブストラクト
Fast quadrotor flight requires safe obstacle avoidance under tight onboard compute limits. While 3D Gaussian Splatting (3DGS) provides a continuous, geometry-aware scene representation for perception-driven navigation, existing 3DGS safety filters use reduced-order models such as single- and double-integrators that ignore actuator limits and assume commanded accelerations are realized instantaneously. Building on an analytic collision cone barrier for 3DGS, we introduce a nonlinear, actuator-aware safety filter enforced through the full quadrotor dynamics. We derive a high-relative-degree collision cone exponential CBF and a backup CBF that preserves QP feasibility under input constraints using a forward-simulated backup policy. Compared with a state-of-the-art 3DGS safety filter, our approach reduces trajectory jerk by 47% and runs 2.25 times faster. We validate the method in simulation and on hardware for real-time navigation in cluttered, perception-derived environments.