36 citations · 96 across the 60 of their papers we have counts for
24 papers · 1 filter
Investigating the Impact of Communication-Induced Action Space on Exploration of Unknown Environments with Decentralized Multi-Agent Reinforcement Learning
Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis +1
This paper introduces a novel enhancement to the Decentralized Multi-Agent Reinforcement Learning (D-MARL) exploration by proposing communication-induced action space to improve th…
Reinforcement Learning Driven Multi-Robot Exploration via Explicit Communication and Density-Based Frontier Search
Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis +1
Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited i…
An Actionable Hierarchical Scene Representation Enhancing Autonomous Inspection Missions in Unknown Environments
Vignesh Kottayam Viswanathan, Mario Alberto Valdes Saucedo, Sumeet Gajanan Satpute +2
In this article, we present the Layered Semantic Graphs (LSG), a novel actionable hierarchical scene graph, fully integrated with a multi-modal mission planner, the FLIE: A First-L…
xFLIE: Leveraging Actionable Hierarchical Scene Representations for Autonomous Semantic-Aware Inspection Missions
Vignesh Kottayam Viswanathan, Mario A. V. Saucedo, Sumeet Gajanan Satpute +2
We present a novel architecture aimed towards incremental construction and exploitation of a hierarchical 3D scene graph representation during semantic-aware inspection missions. I…
DTAA: A Detect, Track and Avoid Architecture for navigation in spaces with Multiple Velocity Objects
Samuel Nordström, Björn Lindquist, George Nikolakopoulos
Proactive collision avoidance measures are imperative in environments where humans and robots coexist. Moreover, the introduction of high quality legged robots into workplaces high…
Barriers on the EDGE: A scalable CBF architecture over EDGE for safe aerial-ground multi-agent coordination
Viswa Narayanan Sankaranarayanan, Achilleas Santi Seisa, Akshit Saradagi +2
In this article, we propose a control architecture for the safe, coordinated operation of a multi-agent system with aerial (UAVs) and ground (UGVs) robots in a confined task space.…
Assisted Physical Interaction: Autonomous Aerial Robots with Neural Network Detection, Navigation, and Safety Layers
Andrea Berra, Viswa Narayanan Sankaranarayanan, Achilleas Santi Seisa +10
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target d…
Design of a Flexible Robot Arm for Safe Aerial Physical Interaction
Julien Mellet, Andrea Berra, Achilleas Santi Seisa +7
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuat…
A Surface Adaptive First-Look Inspection Planner for Autonomous Remote Sensing of Open-Pit Mines
Vignesh Kottayam Viswanathan, Vidya Sumathy, Christoforos Kanellakis +1
In this work, we present an autonomous inspection framework for remote sensing tasks in active open-pit mines. Specifically, the contributions are focused towards developing a meth…
Cloud-Based Scheduling Mechanism for Scalable and Resource-Efficient Centralized Controllers
Achilleas Santi Seisa, Sumeet Gajanan Satpute, George Nikolakopoulos
This paper proposes a novel approach to address the challenges of deploying complex robotic software in large-scale systems, i.e., Centralized Nonlinear Model Predictive Controller…
Why Sample Space Matters: Keyframe Sampling Optimization for LiDAR-based Place Recognition
Nikolaos Stathoulopoulos, Vidya Sumathy, Christoforos Kanellakis +1
Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimati…
Leveraging Computation of Expectation Models for Commonsense Affordance Estimation on 3D Scene Graphs
Mario A. V. Saucedo, Nikolaos Stathoulopoulos, Akash Patel +2
This article studies the commonsense object affordance concept for enabling close-to-human task planning and task optimization of embodied robotic agents in urban environments. The…
BOX3D: Lightweight Camera-LiDAR Fusion for 3D Object Detection and Localization
Mario A. V. Saucedo, Nikolaos Stathoulopoulos, Vidya Sumathy +2
Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for…
Voxel Map to Occupancy Map Conversion Using Free Space Projection for Efficient Map Representation for Aerial and Ground Robots
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
This article introduces a novel method for converting 3D voxel maps, commonly utilized by robots for localization and navigation, into 2D occupancy maps for both unmanned aerial ve…
A Tree-based Next-best-trajectory Method for 3D UAV Exploration
Björn Lindqvist, Akash Patel, Kalle Löfgren +1
This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for loca…
Robotic Exploration through Semantic Topometric Mapping
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map…
GRID-FAST: A Grid-based Intersection Detection for Fast Semantic Topometric Mapping
Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos
This article introduces a novel approach to constructing a topometric map that allows for efficient navigation and decision-making in mobile robotics applications. The method gener…
FRAME: A Modular Framework for Autonomous Map Merging: Advancements in the Field
Nikolaos Stathoulopoulos, Björn Lindqvist, Anton Koval +2
In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approa…
RecNet: An Invertible Point Cloud Encoding through Range Image Embeddings for Multi-Robot Map Sharing and Reconstruction
Nikolaos Stathoulopoulos, Mario A. V. Saucedo, Anton Koval +1
In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrentl…
A CBF-Adaptive Control Architecture for Visual Navigation for UAV in the Presence of Uncertainties
Viswa Narayanan Sankaranarayanan, Akshit Saradagi, Sumeet Satpute +1
In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface…
Environmental Awareness Dynamic 5G QoS for Retaining Real Time Constraints in Robotic Applications
Gerasimos Damigos, Akshit Saradagi, Sara Sandberg +1
The fifth generation (5G) cellular network technology is mature and increasingly utilized in many industrial and robotics applications, while an important functionality is the adva…
On Experimental Emulation of Printability and Fleet Aware Generic Mesh Decomposition for Enabling Aerial 3D Printing
Marios-Nektarios Stamatopoulos, Avijit Banerjee, George Nikolakopoulos
This article introduces an experimental emulation of a novel chunk-based flexible multi-DoF aerial 3D printing framework. The experimental demonstration of the overall autonomy foc…
STAGE: Scalable and Traversability-Aware Graph based Exploration Planner for Dynamically Varying Environments
Akash Patel, Mario A V Saucedo, Christoforos Kanellakis +1
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integr…
Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation
Mario A. V. Saucedo, Akash Patel, Akshit Saradagi +2
In this article, we propose the novel concept of Belief Scene Graphs, which are utility-driven extensions of partial 3D scene graphs, that enable efficient high-level task planning…