{"ID":5554336,"CreatedAt":"2026-07-02T02:11:27.934456424Z","UpdatedAt":"2026-07-04T17:22:49.717376202Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.01200","arxiv_id":"2607.01200","title":"FastBridge: Closing the Model-Based Realization Gap in Safety Filters on 3D Gaussian Splatting for Fast Quadrotor Flight","abstract":"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.","short_abstract":"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 ign...","url_abs":"https://arxiv.org/abs/2607.01200","url_pdf":"https://arxiv.org/pdf/2607.01200v1","authors":"[\"Tscholl Dario\",\"Nakka Yashwanth Kumar\",\"Gunter Brian\"]","published":"2026-07-01T17:33:01Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}