16 citations · 93 across the 14 of their papers we have counts for
14 papers
[Preprint] Dynamic Modeling, Gait Synthesis, and Control of a Novel Subsurface Bore Propagator
Lina van Brügge, Shruti Kotpalliwar, Anton Koval +2
In this article, we present dynamic modeling, gait synthesis, and feedback control design for a modular novel subsurface robot, designed for human-free subsurface exploration and e…
SubTGraph: Large-Scale Subterranean Environment Synthesis with Controllable Topological Variability for Robotic Autonomy Validation
F. Labra Caso, A. Saradagi, S. Fredriksson +3
Subterranean (SubT) environments have been a frontier for autonomous robotics, driven by the push for automation of mining operations and the interest in planetary exploration (Mar…
How IMU Drift Influences Multi-Radar Inertial Odometry for Ground Robots in Subterranean Terrains
Moumita Mukherjee, Magnus Norén, Anton Koval +2
Reliable radar inertial odometry (RIO) requires mitigating IMU bias drift, a challenge that intensifies in subterranean environments due to extreme temperatures and gravity-induced…
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…
RecNet: An Invertible Point Cloud Encoding through Range Image Embeddings for Multi-Robot Map Sharing and Reconstruction
Nikolaos Stathoulopoulos, Mario A. V. Saucedo, Anton Koval +1
In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrentl…
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…
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…
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…
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…
Edge Computing Architectures for Enabling the Realisation of the Next Generation Robotic Systems
Achilleas Santi Seisa, Gerasimos Damigos, Sumeet Gajanan Satpute +2
Edge Computing is a promising technology to provide new capabilities in technological fields that require instantaneous data processing. Researchers in areas such as machine and de…
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…
A Subterranean Virtual Cave World for Gazebo based on the DARPA SubT Challenge
Anton Koval, Christoforos Kanellakis, Emil Vidmark +2
Subterranean environments with lots of obstacles, including narrow passages, large voids, rock falls and absence of illumination were always challenging for control, navigation, an…