39 citations · 159 across the 16 of their papers we have counts for
18 papers
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
A Time-dependent Risk-aware distributed Multi-Agent Path Finder based on A*
S Nordström, Y Bai, B Lindqvist +1
Multi-Agent Path-Finding (MAPF) focuses on the collaborative planning of paths for multiple agents within shared spaces, aiming for collision-free navigation. Conventional planning…
Deployment of an Aerial Multi-agent System for Automated Task Execution in Large-scale Underground Mining Environments
Niklas Dahlquist, Samuel Nordström, Nikolaos Stathoulopoulos +3
In this article, we present a framework for deploying an aerial multi-agent system in large-scale subterranean environments with minimal infrastructure for supporting multi-agent o…
A Tree-based Next-best-trajectory Method for 3D UAV Exploration
Björn Lindqvist, Akash Patel, Kalle Löfgren +1
This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for loca…
FRAME: A Modular Framework for Autonomous Map Merging: Advancements in the Field
Nikolaos Stathoulopoulos, Björn Lindqvist, Anton Koval +2
In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approa…
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…
Towards Energy Efficient Autonomous Exploration of Mars Lava Tube with a Martian Coaxial Quadrotor
Akash Patel, Samuel Karlsson, Bjorn Lindqvist +3
Mapping and exploration of a Martian terrain with an aerial vehicle has become an emerging research direction, since the successful flight demonstration of the Mars helicopter Inge…
An Edge Architecture Oriented Model Predictive Control Scheme for an Autonomous UAV Mission
Achilleas Santi Seisa, Sumeet Gajanan Satpute, Björn Lindqvist +1
In this article the implementation of a controller and specifically of a Model Predictive Controller (MPC) on an Edge Computing device, for controlling the trajectory of an Unmanne…
Reactive Navigation of an Unmanned Aerial Vehicle with Perception-based Obstacle Avoidance Constraints
Björn Lindqvist, Sina Sharif Mansouri, Jakub Haluška +1
In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-den…
REF: A Rapid Exploration Framework for Deploying Autonomous MAVs in Unknown Environments
Akash Patel, Björn Lindqvist, Christoforos Kanellakis +2
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in…
Design and Model Predictive Control of Mars Coaxial Quadrotor
Akash Patel, Avijit Banerjee, Bjorn Lindqvist +2
Mars has been a prime candidate for planetary exploration of the solar system because of the science discoveries that support chances of future habitation on this planet. Martian c…
Collision avoidance for multiple MAVs using fast centralized NMPC
Björn Lindqvist, Sina Sharif Mansouri, Pantelis Sopasakis +1
This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The…
COMPRA: A COMPact Reactive Autonomy framework for subterranean MAV based search-and-rescue operations
Björn Lindqvist, Christoforos Kanellakis, Sina Sharif Mansouri +2
This work establishes COMPRA, a compact and reactive autonomy framework for fast deployment of Micro Aerial Vehicles (MAVs) in subterranean Search-and-Rescue (SAR) missions. A COMP…
A Scalable Distributed Collision Avoidance Scheme for Multi-agent UAV systems
Björn Lindqvist, Pantelis Sopasakis, George Nikolakopoulos
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other ag…
Exploration-RRT: A multi-objective Path Planning and Exploration Framework for Unknown and Unstructured Environments
Björn Lindqvist, Ali-akbar Agha-mohammadi, George Nikolakopoulos
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Tree…
Nonlinear MPC for Collision Avoidance and Controlof UAVs With Dynamic Obstacles
Björn Lindqvist, Sina Sharif Mansouri, Ali-akbar Agha-mohammadi +1
This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation all…
A Unified NMPC Scheme for MAVs Navigation with 3D Collision Avoidance under Position Uncertainty
Sina Sharif Mansouri, Christoforos Kanellakis, Bjorn Lindqvist +4
This article proposes a novel Nonlinear Model Predictive Control (NMPC) framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained environments. The introduced f…
Subterranean MAV Navigation based on Nonlinear MPC with Collision Avoidance Constraints
Sina Sharif Mansouri, Christoforos Kanellakis, Emil Fresk +5
Micro Aerial Vehicles (MAVs) navigation in subterranean environments is gaining attention in the field of aerial robotics, however there are still multiple challenges for collision…