6 papers
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…
OmniPlanner: Universal Exploration and Inspection Path Planning across Robot Morphologies
Angelos Zacharia, Mihir Dharmadhikari, Mohit Singh +1
Autonomous robotic systems are increasingly deployed for mapping, monitoring, and inspection in complex and unstructured environments. However, most existing path planning approach…
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…
Collaborative Exploration with a Marsupial Ground-Aerial Robot Team through Task-Driven Map Compression
Angelos Zacharia, Mihir Dharmadhikari, Kostas Alexis
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challen…
Ariel Explores: Vision-based underwater exploration and inspection via generalist drone-level autonomy
Mohit Singh, Mihir Dharmadhikari, Kostas Alexis
This work presents a vision-based underwater exploration and inspection autonomy solution integrated into Ariel, a custom vision-driven underwater robot. Ariel carries a camera…
Semantics-aware Predictive Inspection Path Planning
Mihir Dharmadhikari, Kostas Alexis
This paper presents a novel semantics-aware inspection path planning paradigm called "Semantics-aware Predictive Planning" (SPP). Industrial environments that require the inspectio…