84 citations · 288 across the 30 of their papers we have counts for
11 papers · 1 filter
A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets
Lukas Bernreiter, Shehryar Khattak, Lionel Ott +3
The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment a…
X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments
Turcan Tuna, Julian Nubert, Yoshua Nava +2
Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such…
LiDAR-guided object search and detection in Subterranean Environments
Manthan Patel, Gabriel Waibel, Shehryar Khattak +1
Detecting objects of interest, such as human survivors, safety equipment, and structure access points, is critical to any search-and-rescue operation. Robots deployed for such time…
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT co…
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter +33
This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with…
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…