36 citations · 96 across the 60 of their papers we have counts for
23 papers · 1 filter
Planetary Terrain Datasets and Benchmarks for Rover Path Planning
Marvin Chancán, Avijit Banerjee, George Nikolakopoulos
Planetary rover exploration is attracting renewed interest with several upcoming space missions to the Moon and Mars. However, a substantial amount of data from prior missions rema…
Optimal Safety-Aware Scheduling for Multi-Agent Aerial 3D Printing with Utility Maximization under Dependency Constraints
Marios-Nektarios Stamatopoulos, Shridhar Velhal, Avijit Banerjee +1
This article presents a novel coordination and task-planning framework to enable the simultaneous conflict-free collaboration of multiple unmanned aerial vehicles (UAVs) for aerial…
Have We Scene It All? Scene Graph-Aware Deep Point Cloud Compression
Nikolaos Stathoulopoulos, Christoforos Kanellakis, George Nikolakopoulos
Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing…
Platform-Agnostic Reinforcement Learning Framework for Safe Exploration of Cluttered Environments with Graph Attention
Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis +1
Autonomous exploration of obstacle-rich spaces requires strategies that ensure efficiency while guaranteeing safety against collisions with obstacles. This paper investigates a nov…
Real-time Point Cloud Data Transmission via L4S for 5G-Edge-Assisted Robotics
Gerasimos Damigos, Achilleas Santi Seisa, Nikolaos Stathoulopoulos +2
This article presents a novel framework for real-time Light Detection and Ranging (LiDAR) data transmission that leverages rate-adaptive technologies and point cloud encoding metho…
Autonomous Reactive Masonry Construction using Collaborative Heterogeneous Aerial Robots with Experimental Demonstration
Marios-Nektarios Stamatopoulos, Elias Small, Shridhar Velhal +2
This article presents a fully autonomous aerial masonry construction framework using heterogeneous unmanned aerial vehicles (UAVs), supported by experimental validation. Two specia…
An Adaptive Inspection Planning Approach Towards Routine Monitoring in Uncertain Environments
Vignesh Kottayam Viswanathan, Yifan Bai, Scott Fredriksson +3
In this work, we present a hierarchical framework designed to support robotic inspection under environment uncertainty. By leveraging a known environment model, existing methods pl…
Collaborative Task Assignment, Sequencing and Multi-agent Path-finding
Yifan Bai, Shruti Kotpalliwar, Christoforos Kanellakis +1
In this article, we address the problem of collaborative task assignment, sequencing, and multi-agent pathfinding (TSPF), where a team of agents must visit a set of task locations…
Cloud-Assisted Remote Control for Aerial Robots: From Theory to Proof-of-Concept Implementation
Achilleas Santi Seisa, Viswa Narayanan Sankaranarayanan, Gerasimos Damigos +2
Cloud robotics has emerged as a promising technology for robotics applications due to its advantages of offloading computationally intensive tasks, facilitating data sharing, and e…
Safety-Aware Optimal Scheduling for Autonomous Masonry Construction using Collaborative Heterogeneous Aerial Robots
Marios-Nektarios Stamatopoulos, Shridhar Velhal, Avijit Banerjee +1
This paper presents a novel high-level task planning and optimal coordination framework for autonomous masonry construction, using a team of heterogeneous aerial robotic workers, c…
A Hierarchical Graph-Based Terrain-Aware Autonomous Navigation Approach for Complementary Multimodal Ground-Aerial Exploration
Akash Patel, Mario A. V. Saucedo, Nikolaos Stathoulopoulos +4
Autonomous navigation in unknown environments is a fundamental challenge in robotics, particularly in coordinating ground and aerial robots to maximize exploration efficiency. This…
Estimating Commonsense Scene Composition on Belief Scene Graphs
Mario A. V. Saucedo, Vignesh Kottayam Viswanathan, Christoforos Kanellakis +1
This work establishes the concept of commonsense scene composition, with a focus on extending Belief Scene Graphs by estimating the spatial distribution of unseen objects. Specific…
SPADE: Towards Scalable Path Planning Architecture on Actionable Multi-Domain 3D Scene Graphs
Vignesh Kottayam Viswanathan, Akash Patel, Mario Alberto Valdes Saucedo +3
In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path plann…
Design and Evaluation of a UGV-Based Robotic Platform for Precision Soil Moisture Remote Sensing
Ilektra Tsimpidi, Ilias Tevetzidis, Vidya Sumathy +1
This extended abstract presents the design and evaluation of AgriOne, an automated unmanned ground vehicle (UGV) platform for high precision sensing of soil moisture in large agric…
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
Collision-free landing of multiple UAVs on moving ground vehicles using time-varying control barrier functions
Viswa Narayanan Sankaranarayanan, Akshit Saradagi, Sumeet Satpute +1
In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control b…
A Time-dependent Risk-aware distributed Multi-Agent Path Finder based on A*
S Nordström, Y Bai, B Lindqvist +1
Multi-Agent Path-Finding (MAPF) focuses on the collaborative planning of paths for multiple agents within shared spaces, aiming for collision-free navigation. Conventional planning…
A Graph-Based Reinforcement Learning Approach with Frontier Potential Based Reward for Safe Cluttered Environment Exploration
Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis +1
Autonomous exploration of cluttered environments requires efficient exploration strategies that guarantee safety against potential collisions with unknown random obstacles. This pa…
Toward Fully Autonomous Flexible Chunk-Based Aerial Additive Manufacturing: Insights from Experimental Validation
Marios-Nektarios Stamatopoulos, Jakub Haluska, Elias Small +3
A novel autonomous chunk-based aerial additive manufacturing framework is presented, supported with experimental demonstration advancing aerial 3D printing. An optimization-based d…
Multi-Agent Path Finding Using Conflict-Based Search and Structural-Semantic Topometric Maps
Scott Fredriksson, Yifan Bai, Akshit Saradagi +1
As industries increasingly adopt large robotic fleets, there is a pressing need for computationally efficient, practical, and optimal conflict-free path planning for multiple robot…
Deployment of an Aerial Multi-agent System for Automated Task Execution in Large-scale Underground Mining Environments
Niklas Dahlquist, Samuel Nordström, Nikolaos Stathoulopoulos +3
In this article, we present a framework for deploying an aerial multi-agent system in large-scale subterranean environments with minimal infrastructure for supporting multi-agent o…
Curriculum-based Sample Efficient Reinforcement Learning for Robust Stabilization of a Quadrotor
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +2
This article introduces a novel sample-efficient curriculum learning (CL) approach for training an end-to-end reinforcement learning (RL) policy for robust stabilization of a Quadr…
A Minimal Subset Approach for Informed Keyframe Sampling in Large-Scale SLAM
Nikolaos Stathoulopoulos, Christoforos Kanellakis, George Nikolakopoulos
Typical LiDAR SLAM architectures feature a front-end for odometry estimation and a back-end for refining and optimizing the trajectory and map, commonly through loop closures. Howe…