51 citations · 137 across the 18 of their papers we have counts for
21 papers · 1 filter
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…
Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments
Paolo De Petris, Shehryar Khattak, Mihir Dharmadhikari +6
This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the…
RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration
Paolo De Petris, Huan Nguyen, Mihir Dharmadhikari +4
This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilie…
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter +38
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy h…
Resource-aware Online Parameter Adaptation for Computationally-constrained Visual-Inertial Navigation Systems
Pranay Mathur, Nikhil Khedekar, Kostas Alexis
In this paper, a computational resources-aware parameter adaptation method for visual-inertial navigation systems is proposed with the goal of enabling the improved deployment of s…
Appendix for the Motion Primitives-based Path Planning for Fast and Agile Exploration Method
Mihir Dharmadhikari, Tung Dang, Kostas Alexis
This manuscript presents enhancements on our motion-primitives exploration path planning method for agile exploration using aerial robots. The method now further integrates a globa…