4 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…
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…