12 citations · 20 across the 36 of their papers we have counts for
7 papers · 1 filter
Robust High-Speed State Estimation for Off-road Navigation using Radar Velocity Factors
Morten Nissov, Jeffrey A. Edlund, Patrick Spieler +3
Enabling robot autonomy in complex environments for mission critical application requires robust state estimation. Particularly under conditions where the exteroceptive sensors, wh…
Modeling and In-flight Torso Attitude Stabilization of a Jumping Quadruped
Michail Papadakis, Jørgen Anker Olsen, Ioannis Poulakakis +1
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accu…
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…
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…
Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding
Mihir Kulkarni, Kostas Alexis
This work contributes a novel deep navigation policy that enables collision-free flight of aerial robots based on a modular approach exploiting deep collision encoding and reinforc…
Aerial Field Robotics
Mihir Kulkarni, Brady Moon, Kostas Alexis +1
Aerial field robotics research represents the domain of study that aims to equip unmanned aerial vehicles - and as it pertains to this chapter, specifically Micro Aerial Vehicles (…