{
  "abstract": "A system and method for estimating a collision probability between a robot and a radiance field within a three-dimensional environment includes: determining forward occupancy information indicating potential over-approximating volumes that are able to be occupied by a robot disposed at a starting position; modeling an environment of the robot using a radiance field; and computing a probability of collision between the robot and an obstacle within the environment based on the forward occupancy information and the radiance field. The estimation method is useful for robotic trajectory determination that involves discretizing a trajectory of the robot into a sequence of trajectory segments over time subintervals; computing an upper-bound for a probability of collision between the robot and a radiance field at each of the time subintervals using a Gaussian Splatting model that normalizes 3D Gaussians within the radiance field; and performing real-time trajectory adjustments based on the computed collision probability upper-bounds.",
  "assignees": [
    "UNIV MICHIGAN REGENTS"
  ],
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    "ADU CHALLEN",
    "EWEN PARKER",
    "ISAACSON SETH",
    "LI ADAM",
    "MICHAUX JONATHAN",
    "RICE SEAN",
    "SKINNER KATERINE ANNE",
    "SWAYAMPAKULA RAHUL",
    "VASUDEVAN RAMANARAYAN"
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  "title": "Motion planning and/or collision determination using continuous environment model",
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