4 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…
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…
PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry
Nikhil Khedekar, Kostas Alexis
LiDAR-Inertial Odometry (LIO) is widely used for accurate state estimation and mapping which is an essential requirement for autonomous robots. Conventional LIO methods typically r…