3 papers
cs.RO2024
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…
cs.RO2023
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…
cs.RO2022
Motion Primitives-based Navigation Planning using Deep Collision Prediction
Huan Nguyen, Sondre Holm Fyhn, Paolo De Petris +1
This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision…