7 citations · 8 across the 10 of their papers we have counts for
10 papers
Reactive Robot-Centric Safety for Autonomous Navigation in Constrained and Dynamic Environments
Viswa Narayanan Sankaranarayanan, Vignesh K. Viswanathan, Akshit Saradagi +2
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors.…
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…
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…
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…
Towards a Reduced Dependency Framework for Autonomous Unified Inspect-Explore Missions
Vignesh Kottayam Viswanathan, Sumeet Gajanan Satpute, Ali-akbar Agha-mohammadi +1
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predomin…
Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Exploration
Alexander Kyuroson, Niklas Dahlquist, Nikolaos Stathoulopoulos +3
Algorithms for autonomous navigation in environments without Global Navigation Satellite System (GNSS) coverage mainly rely on onboard perception systems. These systems commonly in…
Vision Based Docking of Multiple Satellites with an Uncooperative Target
Fragiskos Fourlas, Vignesh Kottayam Viswanathan, Sumeet Satpute +1
With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbit…