139 citations · 308 across the 23 of their papers we have counts for
26 papers
Decentralized Multi-Robot Exploration with Probabilistic Peer Intent and Multi-hop Plan Propagation
Saurbh Singh Jamwal, Nived Chebrolu, Shivaram Kalyanakrishnan
Efficient coordination under limited communication remains a key challenge in decentralized multi-robot exploration. While centralized approaches benefit from global information sh…
Learning to Fly: Stable Vision-Guided UAV Servoing with Compact Target-Centric Cues and Reinforcement Learning
Saurbh Singh Jamwal, Nived Chebrolu
Vision-guided reinforcement learning for Unmanned Aerial Vehicles (UAVs) remains challenging due to unstable policy optimisation, aggressive exploration, and the cost of high-dimen…
OASIS-Map: Object-Level Change Detection in Multi-Session Mapping using Semantic Correspondence Matching
Haedam Oh, Yifu Tao, Nived Chebrolu +1
Map representations which are consistent across repeated visits to a real-world semi-static environment are very useful for long-term robotic inspection. In such settings, the scen…
DigiForest: Digital Analytics and Robotics for Sustainable Forestry
Marco Camurri, Enrico Tomelleri, Matías Mattamala +18
Covering one third of Earth's land surface, forests are vital to global biodiversity, climate regulation, and human well-being. In Europe, forests and woodlands reach approximately…
TreeLoc++: Robust 6-DoF LiDAR Localization in Forests with a Compact Digital Forest Inventory
Minwoo Jung, Dongjae Lee, Nived Chebrolu +3
Reliable localization is essential for sustainable forest management, as it allows robots to revisit and monitor the status of individual trees over long periods. In modern forestr…
Sapling-NeRF: Geo-Localised Sapling Reconstruction in Forests for Ecological Monitoring
Miguel Ángel Muñoz-Bañón, Nived Chebrolu, Sruthi M. Krishna Moorthy +4
Saplings are key indicators of forest regeneration and overall forest health. However, their fine-scale architectural traits are difficult to capture with existing 3D sensing metho…
TreeLoc: 6-DoF LiDAR Global Localization in Forests via Inter-Tree Geometric Matching
Minwoo Jung, Nived Chebrolu, Lucas Carvalho de Lima +3
Reliable localization is crucial for navigation in forests, where GPS is often degraded and LiDAR measurements are repetitive, occluded, and structurally complex. These conditions…
LT-Exosense: A Vision-centric Multi-session Mapping System for Lifelong Safe Navigation of Exoskeletons
Jianeng Wang, Matias Mattamala, Christina Kassab +5
Self-balancing exoskeletons offer a promising mobility solution for individuals with lower-limb disabilities. For reliable long-term operation, these exoskeletons require a percept…
PlanarMesh: Building Compact 3D Meshes from LiDAR using Incremental Adaptive Resolution Reconstruction
Jiahao Wang, Nived Chebrolu, Yifu Tao +3
Building an online 3D LiDAR mapping system that produces a detailed surface reconstruction while remaining computationally efficient is a challenging task. In this paper, we presen…
Building Forest Inventories with Autonomous Legged Robots -- System, Lessons, and Challenges Ahead
Matías Mattamala, Nived Chebrolu, Jonas Frey +5
Legged robots are increasingly being adopted in industries such as oil, gas, mining, nuclear, and agriculture. However, new challenges exist when moving into natural, less-structur…
Markerless Aerial-Terrestrial Co-Registration of Forest Point Clouds using a Deformable Pose Graph
Benoit Casseau, Nived Chebrolu, Matias Mattamala +2
For biodiversity and forestry applications, end-users desire maps of forests that are fully detailed, from the forest floor to the canopy. Terrestrial laser scanning and aerial las…
Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment
Matías Mattamala, Nived Chebrolu, Benoit Casseau +5
We present a solution for autonomous forest inventory with a legged robotic platform. Compared to their wheeled and aerial counterparts, legged platforms offer an attractive balanc…
Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision
Matías Mattamala, Jonas Frey, Piotr Libera +5
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In…
SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection
Yifu Tao, Yash Bhalgat, Lanke Frank Tarimo Fu +3
We present a neural-field-based large-scale reconstruction system that fuses lidar and vision data to generate high-quality reconstructions that are geometrically accurate and capt…
Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System
Leonard Freißmuth, Matias Mattamala, Nived Chebrolu +3
Terrestrial laser scanning (TLS) is the standard technique used to create accurate point clouds for digital forest inventories. However, the measurement process is demanding, requi…
Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests
Haedam Oh, Nived Chebrolu, Matias Mattamala +2
Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodland…
Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning
Rowan Border, Nived Chebrolu, Yifu Tao +2
Aerial mapping systems are important for many surveying applications (e.g., industrial inspection or agricultural monitoring). Aerial platforms that can fly GPS-guided preplanned m…
PhenoBench -- A Large Dataset and Benchmarks for Semantic Image Interpretation in the Agricultural Domain
Jan Weyler, Federico Magistri, Elias Marks +6
The production of food, feed, fiber, and fuel is a key task of agriculture, which has to cope with many challenges in the upcoming decades, e.g., a higher demand, climate change, l…
Fast Traversability Estimation for Wild Visual Navigation
Jonas Frey, Matias Mattamala, Nived Chebrolu +3
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In…
Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation
Yash Goel, Narunas Vaskevicius, Luigi Palmieri +2
We investigate the task of object goal navigation in unknown environments where the target is specified by a semantic label (e.g. find a couch). Such a navigation task is especiall…
3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation
Yifu Tao, Marija Popović, Yiduo Wang +3
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is c…
An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions
Matías Mattamala, Nived Chebrolu, Maurice Fallon
To achieve successful field autonomy, mobile robots need to freely adapt to changes in their environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often ass…
Adaptive Robust Kernels for Non-Linear Least Squares Problems
Nived Chebrolu, Thomas Läbe, Olga Vysotska +2
State estimation is a key ingredient in most robotic systems. Often, state estimation is performed using some form of least squares minimization. Basically, all error minimization…
Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution
Alberto Pretto, Stéphanie Aravecchia, Wolfram Burgard +25
The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency…