13 papers
Embedded Bare-Metal Radar-Inertial Odometry
Nicolai Adil Øyen Aatif, Morten Nissov, Kostas Alexis
Compact extraplanetary rovers and micro aerial vehicles require robust state estimation frameworks designed to operate under strict computational constraints in unforgiving environ…
The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
Mihir Dharmadhikari, Nikhil Khedekar, Mihir Kulkarni +7
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architectu…
On the Characterization and Limits of 4D Radar for Aided Inertial Navigation
Morten Nissov, Kostas Alexis
Frequency Modulated Continuous Wave (FMCW) radar is a promising sensor for aided inertial navigation, due to its robustness in environments that challenge traditional alternatives,…
Equivariant Filter for Radar-Inertial Odometry
Giulio Delama, Jan Michalczyk, Morten Nissov +4
Radar-Inertial Odometry (RIO) based on the Extended Kalman Filter (EKF) relies on accurate extrinsic calibration between the radar and the Inertial Measurement Unit (IMU) and is se…
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…
IMU-Preintegrated Radar Factors for Asynchronous Radar-LiDAR-Inertial SLAM
Johan Hatleskog, Morten Nissov, Kostas Alexis
Fixed-lag Radar-LiDAR-Inertial smoothers conventionally create one factor graph node per measurement to compensate for the lack of time synchronization between radar and LiDAR. For…
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…
Simultaneous Triggering and Synchronization of Sensors and Onboard Computers
Morten Nissov, Nikhil Khedekar, Kostas Alexis
High fidelity estimation algorithms for robotics require accurate data. However, timestamping of sensor data is a key issue that rarely receives the attention it deserves. Inaccura…
Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions
Nazar Misyats, Marvin Harms, Morten Nissov +2
Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely us…
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…
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…
ROAMER: Robust Offroad Autonomy using Multimodal State Estimation with Radar Velocity Integration
Morten Nissov, Shehryar Khattak, Jeffrey A. Edlund +3
Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating co…