FastBridge: Closing the Model-Based Realization Gap in Safety Filters on 3D Gaussian Splatting for Fast Quadrotor Flight

• URL: http://arxiv.org/abs/2607.01200v1
• Date: Wed, 01 Jul 2026 17:33:01 GMT
• Title: FastBridge: Closing the Model-Based Realization Gap in Safety Filters on 3D Gaussian Splatting for Fast Quadrotor Flight
• Abstract summary: Current 3DGS safety filters ignore actuator limits and assume commanded accelerations are realized instantaneously.<n>We introduce a nonlinear, actuator-aware safety filter enforced through the full quadrotor dynamics.<n>Compared with a state-of-the-art 3DGS safety filter, our approach reduces trajectory jerk by 47% and runs 2.25 times faster.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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.

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