4 citations · 7 across the 12 of their papers we have counts for
14 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…
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…
Simultaneous Triggering and Synchronization of Sensors and Onboard Computers
Morten Nissov, Nikhil Khedekar, Kostas Alexis
High fidelity estimation algorithms for robotics require accurate data. However, timestamping of sensor data is a key issue that rarely receives the attention it deserves. Inaccura…
PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry
Nikhil Khedekar, Kostas Alexis
LiDAR-Inertial Odometry (LIO) is widely used for accurate state estimation and mapping which is an essential requirement for autonomous robots. Conventional LIO methods typically r…
Neural Control Barrier Functions for Safe Navigation
Marvin Harms, Mihir Kulkarni, Nikhil Khedekar +2
Autonomous robot navigation can be particularly demanding, especially when the surrounding environment is not known and safety of the robot is crucial. This work relates to the syn…
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…
Degradation Resilient LiDAR-Radar-Inertial Odometry
Morten Nissov, Nikhil Khedekar, Kostas Alexis
Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry re…
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…
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,…
Resource-aware Online Parameter Adaptation for Computationally-constrained Visual-Inertial Navigation Systems
Pranay Mathur, Nikhil Khedekar, Kostas Alexis
In this paper, a computational resources-aware parameter adaptation method for visual-inertial navigation systems is proposed with the goal of enabling the improved deployment of s…