AirSplan: Risk-Aware Motion Planning for Quadrotors in Cluttered 3D Gaussian Splats

arXiv:2609.21226 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Code: https://github.com/ToruNiina/lbvh

Terminology

• Gaussian Splatting — 7× in this paper · explained in 4 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Ablation study — 5× in this paper · explained in 1 episode
• Fidelity — 5× in this paper · explained in 2 episodes
• 3D Gaussian Splatting — 4× in this paper · explained in 2 episodes
• Forward Reachable Set — 4× in this paper
• Conformal Prediction — 2× in this paper · explained in 5 episodes
• Neural Network Approximation — 2× in this paper · explained in 2 episodes
• Reachability-based Trajectory Design — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• American Control Conference — 1× in this paper
• Benchmarking — 1× in this paper · explained in 3 episodes
• Combinatorial Optimization — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Can't Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty
• Foam: A Tool for Spherical Approximation of Robot Geometry
• On Evaluation of Embodied Navigation Agents

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