39 citations · 250 across the 45 of their papers we have counts for
51 papers
TRACE: Traversability-aware Reactive Navigation via VLM-driven Adaptive Constraints Estimation
Mario A. V. Saucedo, Midhun Edatharam Kunnath, Elias Small +4
This paper presents TRACE, a traversability-aware reactive navigation framework designed for the autonomous operation of ground robots in unstructured forest environments. Unlike t…
Towards Spatial Perception for Heterogeneous Robot Collaboration in Subterranean Mining Environments
Mario Alberto Valdes Saucedo, Akash Patel, Christoforos Kanellakis +1
The autonomous extraction of deep mineral deposits in abandoned underground mines is fundamentally a multi-agent integration problem. No single platform simultaneously offers the m…
Decentralized Guidance and Control for Rendezvous and Docking with a Tumbling Target using Multiple Servicers
Jonathan Taylor Jönsson, Sathyanarayanan Seshasayanan, Sumeet Gajanan Satpute +1
The growing trend of miniaturization in space, combined with an exponential increase in orbital debris, motivates a new operational paradigm, that is the deployment of multiple sma…
Combined Aerial Cooperative Tethered Carrying and Path Planning for Quadrotors in Confined Environments
Marios-Nektarios Stamatopoulos, Panagiotis Koustoumpardis, Achilleas Santi Seisa +1
In this article, a novel combined aerial cooperative tethered carrying and path planning framework is introduced with a special focus on applications in confined environments. The…
Adaptive Control of Euler-Lagrange Systems under Time-varying State Constraints without a Priori Bounded Uncertainty
Viswa Narayanan Sankaranarayanan, Sumeet Gajanan Satpute, Spandan Roy +1
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this ob…
A Resilient Framework for 5G-Edge-Connected UAVs based on Switching Edge-MPC and Onboard-PID Control
Gerasimos Damigos, Achilleas Santi Seisa, Sumeet Gajanan Satpute +2
In recent years, the need for resources for handling processes with high computational complexity for mobile robots is becoming increasingly urgent. More specifically, robots need…
Redundant and Loosely Coupled LiDAR-Wi-Fi Integration for Robust Global Localization in Autonomous Mobile Robotics
Nikolaos Stathoulopoulos, Emanuele Pagliari, Luca Davoli +1
This paper presents a framework addressing the challenge of global localization in autonomous mobile robotics by integrating LiDAR-based descriptors and Wi-Fi fingerprinting in a p…
Towards a Reduced Dependency Framework for Autonomous Unified Inspect-Explore Missions
Vignesh Kottayam Viswanathan, Sumeet Gajanan Satpute, Ali-akbar Agha-mohammadi +1
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predomin…
Flexible Multi-DoF Aerial 3D Printing Supported with Automated Optimal Chunking
Marios-Nektarios Stamatopoulos, Avijit Banerjee, George Nikolakopoulos
The future of 3D printing utilizing unmanned aerial vehicles (UAVs) presents a promising capability to revolutionize manufacturing and to enable the creation of large-scale structu…
Autonomous Point Cloud Segmentation for Power Lines Inspection in Smart Grid
Alexander Kyuroson, Anton Koval, George Nikolakopoulos
LiDAR is currently one of the most utilized sensors to effectively monitor the status of power lines and facilitate the inspection of remote power distribution networks and related…
Efficient Real-time Smoke Filtration with 3D LiDAR for Search and Rescue with Autonomous Heterogeneous Robotic Systems
Alexander Kyuroson, Anton Koval, George Nikolakopoulos
Search and Rescue (SAR) missions in harsh and unstructured Sub-Terranean (Sub-T) environments in the presence of aerosol particles have recently become the main focus in the field…
Irregular Change Detection in Sparse Bi-Temporal Point Clouds using Learned Place Recognition Descriptors and Point-to-Voxel Comparison
Nikolaos Stathoulopoulos, Anton Koval, George Nikolakopoulos
Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existi…
Semantic and Topological Mapping using Intersection Identification
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
This article presents a novel approach to identifying and classifying intersections for semantic and topological mapping. More specifically, the proposed novel approach has the mer…
Event Camera and LiDAR based Human Tracking for Adverse Lighting Conditions in Subterranean Environments
Mario A. V. Saucedo, Akash Patel, Rucha Sawlekar +4
In this article, we propose a novel LiDAR and event camera fusion modality for subterranean (SubT) environments for fast and precise object and human detection in a wide variety of…
SA-reCBS: Multi-robot task assignment with integrated reactive path generation
Yifan Bai, Christoforos Kanellakis, George Nikolakopoulos
In this paper, we study the multi-robot task assignment and path-finding problem (MRTAPF), where a number of agents are required to visit all given goal locations while avoiding co…
Reactive Task Allocation for Balanced Servicing of Multiple Task Queues
Niklas Dahlquist, Akshit Saradagi, George Nikolakopoulos
In this article, we propose a reactive task allocation architecture for a multi-agent system for scenarios where the tasks arrive at random times and are grouped into multiple queu…
Reactive Multi-agent Coordination using Auction-based Task Allocation and Behavior Trees
Niklas Dahlquist, Björn Lindqvist, Akshit Saradagi +1
This article presents an architecture for multi-agent task allocation and task execution, through the unification of a market-inspired task-auctioning system with Behavior Trees fo…
Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Exploration
Alexander Kyuroson, Niklas Dahlquist, Nikolaos Stathoulopoulos +3
Algorithms for autonomous navigation in environments without Global Navigation Satellite System (GNSS) coverage mainly rely on onboard perception systems. These systems commonly in…
Vision Based Docking of Multiple Satellites with an Uncooperative Target
Fragiskos Fourlas, Vignesh Kottayam Viswanathan, Sumeet Satpute +1
With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbit…
Evaluation of Lidar-based 3D SLAM algorithms in SubT environment
Anton Koval, Christoforos Kanellakis, George Nikolakopoulos
Autonomous navigation of robots in harsh and GPS denied subterranean (SubT) environments with lack of natural or poor illumination is a challenging task that fosters the developmen…
A Kubernetes-Based Edge Architecture for Controlling the Trajectory of a Resource-Constrained Aerial Robot by Enabling Model Predictive Control
Achilleas Santi Seisa, Sumeet Gajanan Satpute, George Nikolakopoulos
In recent years, cloud and edge architectures have gained tremendous focus for offloading computationally heavy applications. From machine learning and Internet of Thing (IOT) to i…
PACED-5G: Predictive Autonomous Control using Edge for Drones over 5G
Viswa Narayanan Sankaranarayanan, Gerasimos Damigos, Achilleas Santi Seisa +3
With the advent of technologies such as Edge computing, the horizons of remote computational applications have broadened multidimensionally. Autonomous Unmanned Aerial Vehicle (UAV…
FRAME: Fast and Robust Autonomous 3D point cloud Map-merging for Egocentric multi-robot exploration
Nikolaos Stathoulopoulos, Anton Koval, Ali-akbar Agha-mohammadi +1
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of…
Comparison between Docker and Kubernetes based Edge Architectures for Enabling Remote Model Predictive Control for Aerial Robots
Achilleas Santi Seisa, Sumeet Gajanan Satpute, George Nikolakopoulos
Edge computing is becoming more and more popular among researchers who seek to take advantage of the edge resources and the minimal time delays, in order to run their robotic appli…