11 papers
Design and Attitude Control of an Underwater Quadruped Robot
Davide Molinaroli, Mohit Singh, Kostas Alexis
Legged robots are versatile on land, but their use in underwater environments remains limited. Extending quadruped locomotion to water enables amphibious mobility with applications…
IBPA: Real-time Free-form Manifold Mesh Reconstruction via Incremental Ball Pivoting with Integrated Hole Detection
Mauhing Yip, Mohit Singh, Kostas Alexis +2
Both Remotely Operated underwater Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs) are frequently deployed to acquire geometric bathymetric data. However, it is often disc…
BEVIO: Efficient Bird's-Eye-View based Sparse-Update Visual-Inertial Odometry for Lunar Day-Night Navigation
Mohit Singh, Shehryar Khattak, Ashish Goel +3
Visual-Inertial Odometry (VIO) provides smooth, high-rate state estimates and has been widely used for robotic navigation in both terrestrial and planetary applications. However, i…
Tightly-Coupled Radar-Visual-Inertial Odometry
Morten Nissov, Mohit Singh, Kostas Alexis
Visual-Inertial Odometry (VIO) is a staple for reliable state estimation on constrained and lightweight platforms due to its versatility and demonstrated performance. However, pert…
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…
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…
Uncertainty Aware Mapping for Vision-Based Underwater Robots
Abhimanyu Bhowmik, Mohit Singh, Madhushree Sannigrahi +2
Vision-based underwater robots can be useful in inspecting and exploring confined spaces where traditional sensors and preplanned paths cannot be followed. Sensor noise and situati…
Ariel Explores: Vision-based underwater exploration and inspection via generalist drone-level autonomy
Mohit Singh, Mihir Dharmadhikari, Kostas Alexis
This work presents a vision-based underwater exploration and inspection autonomy solution integrated into Ariel, a custom vision-driven underwater robot. Ariel carries a camera…
DeepVL: Dynamics and Inertial Measurements-based Deep Velocity Learning for Underwater Odometry
Mohit Singh, Kostas Alexis
This paper presents a learned model to predict the robot-centric velocity of an underwater robot through dynamics-aware proprioception. The method exploits a recurrent neural netwo…
Online Refractive Camera Model Calibration in Visual Inertial Odometry
Mohit Singh, Kostas Alexis
This paper presents a general refractive camera model and online co-estimation of odometry and the refractive index of unknown media. This enables operation in diverse and varying…
An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry
Mohit Singh, Mihir Dharmadhikari, Kostas Alexis
This work presents a camera model for refractive media such as water and its application in underwater visual-inertial odometry. The model is self-calibrating in real-time and is f…