1.1k citations · 1.1k across the 10 of their papers we have counts for
10 papers
SHRUMS: Sensor Hallucination for Real-time Underwater Motion Planning with a Compact 3D Sonar
Susheel Vadakkekuruppath, Herman B. Amundsen, Lauritz R. Fosso +4
Autonomous navigation in 3D is a fundamental problem for autonomy. Despite major advancements in terrestrial and aerial settings due to improved range sensors including LiDAR, comp…
Underwater Dense Mapping with the First Compact 3D Sonar
Chinmay Burgul, Yewei Huang, Michalis Chatzispyrou +3
In the past decade, the adoption of compact 3D range sensors, such as LiDARs, has driven the developments of robust state-estimation pipelines, making them a standard sensor for ae…
High Definition, Inexpensive, Underwater Mapping
Bharat Joshi, Marios Xanthidis, Sharmin Rahman +1
In this paper we present a complete framework for Underwater SLAM utilizing a single inexpensive sensor. Over the recent years, imaging technology of action cameras is producing st…
AquaVis: A Perception-Aware Autonomous Navigation Framework for Underwater Vehicles
Marios Xanthidis, Michail Kalaitzakis, Nare Karapetyan +4
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.Th…
DeepURL: Deep Pose Estimation Framework for Underwater Relative Localization
Bharat Joshi, Md Modasshir, Travis Manderson +5
In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous…
Experimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain
Bharat Joshi, Sharmin Rahman, Michail Kalaitzakis +8
A plethora of state estimation techniques have appeared in the last decade using visual data, and more recently with added inertial data. Datasets typically used for evaluation inc…
Navigation in the Presence of Obstacles for an Agile Autonomous Underwater Vehicle
Marios Xanthidis, Nare Karapetyan, Hunter Damron +5
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicl…
Dynamically Efficient Kinematics for Hyper-Redundant Manipulators
Marios P. Xanthidis, Kostantinos J. Kyriakopoulos, Ioannis Rekleitis
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom a…
Analysis of Motion Planning by Sampling in Subspaces of Progressively Increasing Dimension
Marios P. Xanthidis, Joel M. Esposito, Ioannis Rekleitis +1
Despite the performance advantages of modern sampling-based motion planners, solving high dimensional planning problems in near real-time remains a challenge. Applications include…
RRT+ : Fast Planning for High-Dimensional Configuration Spaces
Marios Xanthidis, Ioannis Rekleitis, Jason M. O'Kane
In this paper we propose a new family of RRT based algorithms, named RRT+ , that are able to find faster solutions in high-dimensional configuration spaces compared to other existi…