SANDO: Safe Autonomous Trajectory Planning for Dynamic Unknown Environments

arXiv:2604.07599 · cs.RO · Submitted 2026-04-08 · Read on arXiv

cs.RO

Submitted: 2026-04-08

Updated: 2026-09-25

Comments: 25 pages, 13 figures

Code: https://github.com/mit-acl/sando

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmarking — 18× in this paper · explained in 3 episodes
• Benchmark — 13× in this paper · explained in 2 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Aggregation — 5× in this paper · explained in 1 episode
• IEEE International Conference on Robotics and Automation — 4× in this paper
• Point Cloud Data — 4× in this paper · explained in 2 episodes
• Steering — 3× in this paper · explained in 2 episodes
• Ablation Studies — 2× in this paper · explained in 1 episode
• Ablation study — 2× in this paper · explained in 1 episode
• Clustering — 2× in this paper · explained in 2 episodes
• Conformal Prediction — 2× in this paper · explained in 5 episodes
• Core — 2× in this paper · explained in 2 episodes
• Mixed-Integer Quadratic Program — 2× in this paper
• Robustness — 2× in this paper · explained in 5 episodes
• Adaptive Extended Kalman Filter — 1× in this paper

Sources

• Vision-aided UAV navigation and dynamic obstacle avoidance using gradient-based B-spline trajectory optimization

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