36 citations · 87 across the 13 of their papers we have counts for
14 papers
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…
A Hierarchical Graph-Based Terrain-Aware Autonomous Navigation Approach for Complementary Multimodal Ground-Aerial Exploration
Akash Patel, Mario A. V. Saucedo, Nikolaos Stathoulopoulos +4
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This…
SPADE: Towards Scalable Path Planning Architecture on Actionable Multi-Domain 3D Scene Graphs
Vignesh Kottayam Viswanathan, Akash Patel, Mario Alberto Valdes Saucedo +3
In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path plann…
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…
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…
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…