11 citations · 20 across the 7 of their papers we have counts for
7 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…
Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning
Albert Gassol Puigjaner, Angelos Zacharia, Kostas Alexis
Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneo…
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…
Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned
Muqing Cao, Thien-Minh Nguyen, Shenghai Yuan +12
We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features…
Distributed Control for 3D Inspection using Multi-UAV Systems
Angelos Zacharia, Savvas Papaioannou, Panayiotis Kolios +1
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and…
Automated Real-Time Inspection in Indoor and Outdoor 3D Environments with Cooperative Aerial Robots
Andreas Anastasiou, Angelos Zacharia, Savvas Papaioannou +3
This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structur…