1 citations · 3 across the 15 of their papers we have counts for
15 papers
A Survey on Data-Driven Models for Soil Moisture Regression and Classification
Ilektra Tsimpidi, George Georgoulas, Vidya Sumathy +1
Soil Moisture (SM) modelling constitutes a complex spatiotemporal learning problem characterised by nonlinear environmental interactions, heterogeneous data sources, and limited gr…
Modeling and Control of a Pneumatic Morphing Soft Quadrotor based on the SOFA Framework for Dynamic Soft Robotic Simulation
F. Labra Caso, V. Sumathy, P. Ferrentino +3
This article presents a novel SOFA based finite element method for the soft body modeling and the corresponding dynamic simulation and control of a pneumatic morphing soft quadroto…
Aerial Inspection Behaviors via RL-based Quadrotor Control for Under-canopy Forest Environments
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +2
This paper addresses the problem of using a deep Reinforcement Learning (RL)-based low-level Quadrotor controller within an autonomous Quadrotor navigation stack for aerial inspect…
A Heuristic Approach for Performance Tuning in RL-based Quadrotor Control via Reward Design and Termination Conditions
Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy +1
Reinforcement learning (RL)-based quadrotor control policies have achieved impressive performance in tasks such as fast navigation in cluttered environments and drone racing, where…
Safe Heterogeneous Multi-Agent RL with Communication Regularization for Coordinated Target Acquisition
Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis +1
This paper introduces a decentralized multi-agent reinforcement learning framework enabling structurally heterogeneous teams of agents to jointly discover and acquire randomly loca…
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…
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…
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…
Soft Arm-Motor Thrust Characterization for a Pneumatically Actuated Soft Morphing Quadrotor
Vidya Sumathy, Jakub Haluska, George Nikolakopoulos
In this work, an experimental characterization of the configuration space of a soft, pneumatically actuated morphing quadrotor is presented, with a focus on precise thrust characte…
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…
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…
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…
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…
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…