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.RO2024
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…
cs.RO2024
ROAMER: Robust Offroad Autonomy using Multimodal State Estimation with Radar Velocity Integration
Morten Nissov, Shehryar Khattak, Jeffrey A. Edlund +3
Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating co…