3 citations · 9 across the 25 of their papers we have counts for
25 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…
Aerial Inspection Behaviors via RL-based Quadrotor Control for Under-canopy Forest Environments
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +2
This paper addresses the problem of using a deep Reinforcement Learning (RL)-based low-level Quadrotor controller within an autonomous Quadrotor navigation stack for aerial inspect…
A Heuristic Approach for Performance Tuning in RL-based Quadrotor Control via Reward Design and Termination Conditions
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +1
Reinforcement learning (RL)-based quadrotor control policies have achieved impressive performance in tasks such as fast navigation in cluttered environments and drone racing, where…
Fast Expanding Safe Circular Regions for Efficient Local Path Planning
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window App…
Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
Viswa Narayanan Sankaranarayanan, Vignesh K. Viswanathan, Akshit Saradagi +2
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors.…
Collision-free landing of multiple UAVs on moving ground vehicles using time-varying control barrier functions
Viswa Narayanan Sankaranarayanan, Akshit Saradagi, Sumeet Satpute +1
In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control b…
Multi-Agent Path Finding Using Conflict-Based Search and Structural-Semantic Topometric Maps
Scott Fredriksson, Yifan Bai, Akshit Saradagi +1
As industries increasingly adopt large robotic fleets, there is a pressing need for computationally efficient, practical, and optimal conflict-free path planning for multiple robot…
Deployment of an Aerial Multi-agent System for Automated Task Execution in Large-scale Underground Mining Environments
Niklas Dahlquist, Samuel Nordström, Nikolaos Stathoulopoulos +3
In this article, we present a framework for deploying an aerial multi-agent system in large-scale subterranean environments with minimal infrastructure for supporting multi-agent o…
Curriculum-based Sample Efficient Reinforcement Learning for Robust Stabilization of a Quadrotor
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +2
This article introduces a novel sample-efficient curriculum learning (CL) approach for training an end-to-end reinforcement learning (RL) policy for robust stabilization of a Quadr…
Barriers on the EDGE: A scalable CBF architecture over EDGE for safe aerial-ground multi-agent coordination
Viswa Narayanan Sankaranarayanan, Achilleas Santi Seisa, Akshit Saradagi +2
In this article, we propose a control architecture for the safe, coordinated operation of a multi-agent system with aerial (UAVs) and ground (UGVs) robots in a confined task space.…
Voxel Map to Occupancy Map Conversion Using Free Space Projection for Efficient Map Representation for Aerial and Ground Robots
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both unmanned aerial ve…
Robotic Exploration through Semantic Topometric Mapping
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map…
GRID-FAST: A Grid-based Intersection Detection for Fast Semantic Topometric Mapping
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
This article introduces a novel approach to constructing a topometric map that allows for efficient navigation and decision-making in mobile robotics applications. The method gener…
A CBF-Adaptive Control Architecture for Visual Navigation for UAV in the Presence of Uncertainties
Viswa Narayanan Sankaranarayanan, Akshit Saradagi, Sumeet Satpute +1
In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface…
Environmental Awareness Dynamic 5G QoS for Retaining Real Time Constraints in Robotic Applications
Gerasimos Damigos, Akshit Saradagi, Sara Sandberg +1
The fifth generation (5G) cellular network technology is mature and increasingly utilized in many industrial and robotics applications, while an important functionality is the adva…
Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation
Mario A. V. Saucedo, Akash Patel, Akshit Saradagi +2
In this article, we propose the novel concept of Belief Scene Graphs, which are utility-driven extensions of partial 3D scene graphs, that enable efficient high-level task planning…
Model-Free Control Design for Feedback-Linearizable SISO Systems
Karthik Shenoy, Akshit Saradagi, Ramkrishna Pasumarthy +1
Data-driven control has gained significant attention in recent years, particularly regarding feedback linearization of nonlinear systems. However, existing approaches face limitati…
Semantic and Topological Mapping using Intersection Identification
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
This article presents a novel approach to identifying and classifying intersections for semantic and topological mapping. More specifically, the proposed novel approach has the mer…
Event Camera and LiDAR based Human Tracking for Adverse Lighting Conditions in Subterranean Environments
Mario A. V. Saucedo, Akash Patel, Rucha Sawlekar +4
In this article, we propose a novel LiDAR and event camera fusion modality for subterranean (SubT) environments for fast and precise object and human detection in a wide variety of…
Reactive Task Allocation for Balanced Servicing of Multiple Task Queues
Niklas Dahlquist, Akshit Saradagi, George Nikolakopoulos
In this article, we propose a reactive task allocation architecture for a multi-agent system for scenarios where the tasks arrive at random times and are grouped into multiple queu…
Reactive Multi-agent Coordination using Auction-based Task Allocation and Behavior Trees
Niklas Dahlquist, Björn Lindqvist, Akshit Saradagi +1
This article presents an architecture for multi-agent task allocation and task execution, through the unification of a market-inspired task-auctioning system with Behavior Trees fo…
Data-Driven Feedback Linearization of Nonlinear Systems with Periodic Orbits in the Zero-Dynamics
Karthik Shenoy, Akshit Saradagi, Ramkrishna Pasumarthy +1
In this article, we present data-driven feedback linearization for nonlinear systems with periodic orbits in the zero-dynamics. This scenario is challenging for data-driven control…
Safe Autonomous Docking Maneuvers for a Floating Platform based on Input Sharing Control Barrier Functions
Akshit Saradagi, Avijit Banerjee, Sumeet Satpute +1
In this article, we present a control strategy for the problem of safe autonomous docking for a planar floating platform (Slider) that emulates the movement of a satellite. Employi…