51 citations · 101 across the 7 of their papers we have counts for
9 papers
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…
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…