4 citations · 6 across the 14 of their papers we have counts for
16 papers
The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
Mihir Dharmadhikari, Nikhil Khedekar, Mihir Kulkarni +7
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architectu…
OmniPlanner: Universal Exploration and Inspection Path Planning Across Robot Morphologies
Angelos Zacharia, Mihir Dharmadhikari, Mohit Singh +1
Autonomous robotic systems are increasingly deployed for mapping, monitoring, and inspection in complex and unstructured environments. However, most existing path planning approach…
UniPilot: Enabling GPS-Denied Autonomy Across Embodiments
Mihir Kulkarni, Mihir Dharmadhikari, Nikhil Khedekar +4
This paper presents UniPilot, a compact hardware-software autonomy payload that can be integrated across diverse robot embodiments to enable autonomous operation in GPS-denied envi…
Collaborative Exploration with a Marsupial Ground-Aerial Robot Team through Task-Driven Map Compression
Angelos Zacharia, Mihir Dharmadhikari, Kostas Alexis
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challen…
Ariel Explores: Vision-based underwater exploration and inspection via generalist drone-level autonomy
Mohit Singh, Mihir Dharmadhikari, Kostas Alexis
This work presents a vision-based underwater exploration and inspection autonomy solution integrated into Ariel, a custom vision-driven underwater robot. Ariel carries a camera…
Semantics-aware Predictive Inspection Path Planning
Mihir Dharmadhikari, Kostas Alexis
This paper presents a novel semantics-aware inspection path planning paradigm called "Semantics-aware Predictive Planning" (SPP). Industrial environments that require the inspectio…
Maritime Vessel Tank Inspection using Aerial Robots: Experience from the field and dataset release
Mihir Dharmadhikari, Nikhil Khedekar, Paolo De Petris +3
This paper presents field results and lessons learned from the deployment of aerial robots inside ship ballast tanks. Vessel tanks including ballast tanks and cargo holds present d…
Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots
Mihir Dharmadhikari, Paolo De Petris, Mihir Kulkarni +7
This paper presents a solution for the autonomous exploration and inspection of Ballast Water Tanks (BWTs) of marine vessels using aerial robots. Ballast tank compartments are crit…
An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry
Mohit Singh, Mihir Dharmadhikari, Kostas Alexis
This work presents a camera model for refractive media such as water and its application in underwater visual-inertial odometry. The model is self-calibrating in real-time and is f…
Semantics-aware Exploration and Inspection Path Planning
Mihir Dharmadhikari, Kostas Alexis
This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored ofte…
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter +33
This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with…
Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments
Paolo De Petris, Shehryar Khattak, Mihir Dharmadhikari +6
This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the…
RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration
Paolo De Petris, Huan Nguyen, Mihir Dharmadhikari +4
This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilie…
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter +38
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy h…
Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots
Mihir Kulkarni, Mihir Dharmadhikari, Marco Tranzatto +10
This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings,…
Appendix for the Motion Primitives-based Path Planning for Fast and Agile Exploration Method
Mihir Dharmadhikari, Tung Dang, Kostas Alexis
This manuscript presents enhancements on our motion-primitives exploration path planning method for agile exploration using aerial robots. The method now further integrates a globa…