156 lines
9.1 KiB
HTML
156 lines
9.1 KiB
HTML
<html>
|
||
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8" />
|
||
<head>
|
||
<meta name="citation_title" content="Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid" />
|
||
<meta name="citation_author" content="Parv Kapoor" />
|
||
<meta name="citation_author" content="Ian Higgins" />
|
||
<meta name="citation_author" content="Nikhil Varma Keetha" />
|
||
<meta name="citation_author" content="Jay Patrikar" />
|
||
<meta name="citation_author" content="Brady Moon" />
|
||
<meta name="citation_author" content="Zelin Ye" />
|
||
<meta name="citation_author" content="Yao He" />
|
||
<meta name="citation_author" content="Ivan Cisneros" />
|
||
<meta name="citation_author" content="Changliu Liu" />
|
||
<meta name="citation_author" content="Eunsuk Kang" />
|
||
<meta name="citation_author" content="Sebastian Scherer" />
|
||
<meta name="citation_publication_date" content="2025/06/21" />
|
||
<meta name="citation_conference_title" content="Robotics: Science and Systems XXI" />
|
||
<meta name="citation_isbn" content="979-8-9902848-1-4" />
|
||
<meta name="citation_volume" content="21" />
|
||
<meta name="citation_pdf_url" content="http://www.roboticsproceedings.org/rss21/p002.pdf" />
|
||
<title>Robotics: Science and Systems XXI - Online Proceedings</title>
|
||
<link type="text/css" rel="stylesheet" href="../style.css">
|
||
<!--[if IE 5]>
|
||
<link type="text/css" rel="stylesheet" href="../ie5.css">
|
||
<![endif]-->
|
||
<!--[if IE 6]>
|
||
<link type="text/css" rel="stylesheet" href="../ie6.css">
|
||
<![endif]-->
|
||
</head>
|
||
<body>
|
||
<div class="menu">
|
||
<ul>
|
||
<li class="here"><a class="menu" href="../index.html">Home</a></li>
|
||
<li class="label">RSS XXII</span></li>
|
||
<li class="menu"><a class="menu" href="../rss22/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss22/authors.html">Authors</a></li>
|
||
<li class="label">RSS XXI</span></li>
|
||
<li class="menu"><a class="menu" href="../rss21/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss21/authors.html">Authors</a></li>
|
||
<li class="label">RSS XX</span></li>
|
||
<li class="menu"><a class="menu" href="../rss20/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss20/authors.html">Authors</a></li>
|
||
<li class="label">RSS XIX</span></li>
|
||
<li class="menu"><a class="menu" href="../rss19/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss19/authors.html">Authors</a></li>
|
||
<li class="label">RSS XVIII</span></li>
|
||
<li class="menu"><a class="menu" href="../rss18/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss18/authors.html">Authors</a></li>
|
||
<li class="label">RSS XVII</span></li>
|
||
<li class="menu"><a class="menu" href="../rss17/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss17/authors.html">Authors</a></li>
|
||
<li class="label">RSS XVI</span></li>
|
||
<li class="menu"><a class="menu" href="../rss16/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss16/authors.html">Authors</a></li>
|
||
<li class="label">RSS XV</span></li>
|
||
<li class="menu"><a class="menu" href="../rss15/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss15/authors.html">Authors</a></li>
|
||
<li class="label">RSS XIV</span></li>
|
||
<li class="menu"><a class="menu" href="../rss14/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss14/authors.html">Authors</a></li>
|
||
<li class="label">RSS XIII</span></li>
|
||
<li class="menu"><a class="menu" href="../rss13/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss13/authors.html">Authors</a></li>
|
||
<li class="label">RSS XII</span></li>
|
||
<li class="menu"><a class="menu" href="../rss12/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss12/authors.html">Authors</a></li>
|
||
<li class="label">RSS XI</span></li>
|
||
<li class="menu"><a class="menu" href="../rss11/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss11/authors.html">Authors</a></li>
|
||
<li class="label">RSS X</span></li>
|
||
<li class="menu"><a class="menu" href="../rss10/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss10/authors.html">Authors</a></li>
|
||
<li class="label">RSS IX</span></li>
|
||
<li class="menu"><a class="menu" href="../rss09/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss09/authors.html">Authors</a></li>
|
||
<li class="label">RSS VIII</span></li>
|
||
<li class="menu"><a class="menu" href="../rss08/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss08/authors.html">Authors</a></li>
|
||
<li class="label">RSS VII</span></li>
|
||
<li class="menu"><a class="menu" href="../rss07/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss07/authors.html">Authors</a></li>
|
||
<li class="label">RSS VI</span></li>
|
||
<li class="menu"><a class="menu" href="../rss06/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss06/authors.html">Authors</a></li>
|
||
<li class="label">RSS V</span></li>
|
||
<li class="menu"><a class="menu" href="../rss05/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss05/authors.html">Authors</a></li>
|
||
<li class="label">RSS IV</span></li>
|
||
<li class="menu"><a class="menu" href="../rss04/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss04/authors.html">Authors</a></li>
|
||
<li class="label">RSS III</span></li>
|
||
<li class="menu"><a class="menu" href="../rss03/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss03/authors.html">Authors</a></li>
|
||
<li class="label">RSS II</span></li>
|
||
<li class="menu"><a class="menu" href="../rss02/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss02/authors.html">Authors</a></li>
|
||
<li class="label">RSS I</span></li>
|
||
<li class="menu"><a class="menu" href="../rss01/index.html">Content</a></li>
|
||
<li class="menu"><a class="menu" href="../rss01/authors.html">Authors</a></li>
|
||
<li class="label">Ethics and Malpractice</span></li>
|
||
<li class="menu"><a class="menu" href="../statement.html">Statement</a></li>
|
||
<li class="label">Contact</span></li>
|
||
<li class="last"><a class="menu" href="../contact.html">Webmaster</a></li>
|
||
<li class="no-style"><center><img border="0" src="../robot-small.jpg"></center>
|
||
<br><br><br>
|
||
<center>We are using google analytics for statistics!</center>
|
||
</ul>
|
||
</div>
|
||
<div class="content">
|
||
|
||
<h1>Robotics: Science and Systems XXI</h1>
|
||
<h3>Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid</h3>
|
||
<i>Parv Kapoor, Ian Higgins, Nikhil Varma Keetha, Jay Patrikar, Brady Moon, Zelin Ye, Yao He, Ivan Cisneros, Changliu Liu, Eunsuk Kang, Sebastian Scherer</i><br>
|
||
<p>
|
||
<b>Abstract:</b>
|
||
</p><p style="text-align: justify;">
|
||
Assured safe-separation is essential for achieving seamless high-density operation of airborne vehicles in a shared airspace. To equip resource-constrained aerial systems with this safety-critical capability, we present ViSafe, a high-speed vision-only airborne collision avoidance system. ViSafe offers a full-stack solution to the Detect and Avoid (DAA) problem by tightly integrating a learning-based edge-AI framework with a custom multi-camera hardware prototype designed under SWaP-C constraints. By leveraging perceptual input-focused control barrier functions (CBF) to design, encode, and enforce safety thresholds, ViSafe can provide provably safe runtime guarantees for self-separation in high-speed aerial operations. We evaluate ViSafe’s performance through an extensive test campaign involving both simulated digital twins and real-world flight scenarios. By independently varying agent types, closure rates, interaction geometries, and environmental conditions (e.g., weather and lighting), we demonstrate that ViSafe consistently ensures self-separation across diverse scenarios. In first-of-its-kind real-world high-speed collision avoidance tests with closure rates reaching 144 km/h, ViSafe sets a new benchmark for vision-only autonomous collision avoidance, establishing a new standard for safety in high-speed aerial navigation.
|
||
</p>
|
||
<p>
|
||
<b>Download:</b> <a href="p002.pdf" target="_blank" onclick="_gaq.push(['_trackEvent','rss10/p002.pdf','PDF',this.href]);"><img src="../icon-pdf.png" border=0></a>
|
||
</p>
|
||
<p>
|
||
<b>Bibtex:</b>
|
||
<pre>
|
||
@INPROCEEDINGS{KapoorP-RSS-25,
|
||
AUTHOR = {Parv Kapoor AND Ian Higgins AND Nikhil Varma Keetha AND Jay Patrikar AND Brady Moon AND Zelin Ye AND Yao He AND Ivan Cisneros AND Changliu Liu AND Eunsuk Kang AND Sebastian Scherer},
|
||
TITLE = {{Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid}},
|
||
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
|
||
YEAR = {2025},
|
||
ADDRESS = {LosAngeles, CA, USA},
|
||
MONTH = {June},
|
||
DOI = {10.15607/RSS.2025.XXI.002}
|
||
}
|
||
|
||
</pre>
|
||
</p>
|
||
|
||
</div>
|
||
<div class="analyt">
|
||
<script type="text/javascript">
|
||
|
||
var _gaq = _gaq || [];
|
||
_gaq.push(['_setAccount', 'UA-24631810-1']);
|
||
_gaq.push(['_trackPageview']);
|
||
|
||
(function() {
|
||
var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
|
||
ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
|
||
var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
|
||
})();
|
||
|
||
</script>
|
||
</div>
|
||
</body>
|
||
</html>
|