84 citations · 276 across the 31 of their papers we have counts for
35 papers
CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments
Shehryar Khattak, Timon Homberger, Lukas Bernreiter +5
Robot autonomy in unknown, GPS-denied, and complex underground environments requires real-time, robust, and accurate onboard pose estimation and mapping for reliable operations. Th…
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…
Semantically-enhanced Deep Collision Prediction for Autonomous Navigation using Aerial Robots
Mihir Kulkarni, Huan Nguyen, Kostas Alexis
This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming…
Aerial Gym -- Isaac Gym Simulator for Aerial Robots
Mihir Kulkarni, Theodor J. L. Forgaard, Kostas Alexis
Developing learning-based methods for navigation of aerial robots is an intensive data-driven process that requires highly parallelized simulation. The full utilization of such sim…
Semantics-aware Exploration and Inspection Path Planning
Mihir Dharmadhikari, Kostas Alexis
This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored ofte…
Collision-tolerant Aerial Robots: A Survey
Paolo De Petris, Stephen J. Carlson, Christos Papachristos +1
As aerial robots are tasked to navigate environments of increased complexity, embedding collision tolerance in their design becomes important. In this survey we review the current…