This repository contains the code for the paper
@inproceedings{agrawal2025certifiably,
title={Certifiably-Correct Mapping for Safe Navigation Despite Odometry Drift},
author={Agrawal, Devansh R. and Kim, Taekyung and Govindjee, Rajiv and Adeshara, Trushant and Yu, Jiangbo and Ravikumar, Anurekha and Panagou, Dimitra},
booktitle={2025 Robotics: Science and Systems (RSS)}
year={2025},
organization={RSS Foundation}
}
The supplementary video is here: https://youtu.be/qMlDK7Iou48
The paper presents two methods for certifiable mapping. The Safe Flight Corridors approach is in the folder safe_flight_corridors and is a Julia-based repository. The Certified ESDFs approach is in the submodule dasc_ros_nvblox which contains our fork of the isaac_ros_nvblox repository. The latter also contains our fork of nvblox.