21 citations · 119 across the 36 of their papers we have counts for
10 papers · 1 filter
Investigating the Impact of Communication-Induced Action Space on Exploration of Unknown Environments with Decentralized Multi-Agent Reinforcement Learning
Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis +1
This paper introduces a novel enhancement to the Decentralized Multi-Agent Reinforcement Learning (D-MARL) exploration by proposing communication-induced action space to improve th…
Reinforcement Learning Driven Multi-Robot Exploration via Explicit Communication and Density-Based Frontier Search
Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis +1
Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited i…
An Actionable Hierarchical Scene Representation Enhancing Autonomous Inspection Missions in Unknown Environments
Vignesh Kottayam Viswanathan, Mario Alberto Valdes Saucedo, Sumeet Gajanan Satpute +2
In this article, we present the Layered Semantic Graphs (LSG), a novel actionable hierarchical scene graph, fully integrated with a multi-modal mission planner, the FLIE: A First-L…
xFLIE: Leveraging Actionable Hierarchical Scene Representations for Autonomous Semantic-Aware Inspection Missions
Vignesh Kottayam Viswanathan, Mario A. V. Saucedo, Sumeet Gajanan Satpute +2
We present a novel architecture aimed towards incremental construction and exploitation of a hierarchical 3D scene graph representation during semantic-aware inspection missions. I…
A Surface Adaptive First-Look Inspection Planner for Autonomous Remote Sensing of Open-Pit Mines
Vignesh Kottayam Viswanathan, Vidya Sumathy, Christoforos Kanellakis +1
In this work, we present an autonomous inspection framework for remote sensing tasks in active open-pit mines. Specifically, the contributions are focused towards developing a meth…
Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognition
Nikolaos Stathoulopoulos, Vidya Sumathy, Christoforos Kanellakis +1
Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimati…
Leveraging Computation of Expectation Models for Commonsense Affordance Estimation on 3D Scene Graphs
Mario A. V. Saucedo, Nikolaos Stathoulopoulos, Akash Patel +2
This article studies the commonsense object affordance concept for enabling close-to-human task planning and task optimization of embodied robotic agents in urban environments. The…
BOX3D: Lightweight Camera-LiDAR Fusion for 3D Object Detection and Localization
Mario A. V. Saucedo, Nikolaos Stathoulopoulos, Vidya Sumathy +2
Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for…
STAGE: Scalable and Traversability-Aware Graph based Exploration Planner for Dynamically Varying Environments
Akash Patel, Mario A V Saucedo, Christoforos Kanellakis +1
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integr…
Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation
Mario A. V. Saucedo, Akash Patel, Akshit Saradagi +2
In this article, we propose the novel concept of Belief Scene Graphs, which are utility-driven extensions of partial 3D scene graphs, that enable efficient high-level task planning…