11 citations · 14 across the 12 of their papers we have counts for
14 papers
TRACE: Traversability-aware Reactive Navigation via VLM-driven Adaptive Constraints Estimation
Mario A. V. Saucedo, Midhun Edatharam Kunnath, Elias Small +4
This paper presents TRACE, a traversability-aware reactive navigation framework designed for the autonomous operation of ground robots in unstructured forest environments. Unlike t…
Towards Spatial Perception for Heterogeneous Robot Collaboration in Subterranean Mining Environments
Mario Alberto Valdes Saucedo, Akash Patel, Christoforos Kanellakis +1
The autonomous extraction of deep mineral deposits in abandoned underground mines is fundamentally a multi-agent integration problem. No single platform simultaneously offers the m…
Estimating Semantic Ambiguity via Gaussian Context Distributions for VLM-Driven Traversability Analysis
Ramona Häuselmann, Mario A. V. Saucedo, Christoforos Kanellakis +1
Autonomous navigation in unstructured environments requires robust scene understanding, yet Vision-Language Models (VLMs) often suffer from semantic ambiguity, where conflicting pr…
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…
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…
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…
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…
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…
Event Camera and LiDAR based Human Tracking for Adverse Lighting Conditions in Subterranean Environments
Mario A. V. Saucedo, Akash Patel, Rucha Sawlekar +4
In this article, we propose a novel LiDAR and event camera fusion modality for subterranean (SubT) environments for fast and precise object and human detection in a wide variety of…