84 citations · 199 across the 13 of their papers we have counts for
13 papers
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…
GA+DDPG+HER: Genetic Algorithm-Based Function Optimizer in Deep Reinforcement Learning for Robotic Manipulation Tasks
Adarsh Sehgal, Nicholas Ward, Hung Manh La +2
Agents can base decisions made using reinforcement learning (RL) on a reward function. The selection of values for the learning algorithm parameters can, nevertheless, have a subst…
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…
Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots
Mihir Kulkarni, Mihir Dharmadhikari, Marco Tranzatto +10
This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings,…
Vision-Depth Landmarks and Inertial Fusion for Navigation in Degraded Visual Environments
Shehryar Khattak, Christos Papachristos, Kostas Alexis
This paper proposes a method for tight fusion of visual, depth and inertial data in order to extend robotic capabilities for navigation in GPS-denied, poorly illuminated, and textu…
Visual-Thermal Landmarks and Inertial Fusion for Navigation in Degraded Visual Environments
Shehryar Khattak, Christos Papachristos, Kostas Alexis
With an ever-widening domain of aerial robotic applications, including many mission critical tasks such as disaster response operations, search and rescue missions and infrastructu…
Keyframe-based Direct Thermal-Inertial Odometry
Shehryar Khattak, Christos Papachristos, Kostas Alexis
This paper proposes an approach for fusing direct radiometric data from a thermal camera with inertial measurements to extend the robotic capabilities of aerial robots for navigati…
Marker based Thermal-Inertial Localization for Aerial Robots in Obscurant Filled Environments
Shehryar Khattak, Christos Papachristos, Kostas Alexis
For robotic inspection tasks in known environments fiducial markers provide a reliable and low-cost solution for robot localization. However, detection of such markers relies on th…
Lévy Flight Foraging Hypothesis-based Autonomous Memoryless Search Under Sparse Rewards
Christos Papachristos, Kostas Alexis
Autonomous robots are commonly tasked with the problem of area exploration and search for certain targets or artifacts of interest to be tracked. Traditionally, the problem formula…
Design and Control of an Aerial Manipulator for Contact-based Inspection
Varun Nayak, Christos Papachristos, Kostas Alexis
Manipulator dynamics, external forces and moments raise issues in stability and efficient control during aerial manipulation. Additionally, multirotor Micro Aerial Vehicles impose…
Visual-Inertial Odometry-enhanced Geometrically Stable ICP for Mapping Applications using Aerial Robots
Tung Dang, Shehryar Khattak, Christos Papachristos +1
This paper presents a visual-inertial odometry-enhanced geometrically stable Iterative Closest Point (ICP) algorithm for accurate mapping using aerial robots. The proposed method e…
Towards Robotically Supported Decommissioning of Nuclear Sites
Frank Mascarich, Taylor Wilson, Tung Dang +3
This paper overviews certain radiation detection, perception, and planning challenges for nuclearized robotics that aim to support the waste management and decommissioning mission.…
Distributed Infrastructure Inspection Path Planning subject to Time Constraints
Kostas Alexis, Christos Papachristos, Roland Siegwart +1
Within this paper, the problem of 3D structural inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The p…