Scientific exploration of challenging planetary analog environments with a team of legged robots
The interest in exploring planetary bodies for scientific investigation and in situ resource
utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art …
utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art …
Resilient and distributed multi-robot visual slam: Datasets, experiments, and lessons learned
This paper revisits Kimera-Multi, a distributed multi-robot Simultaneous Localization and
Mapping (SLAM) system, towards the goal of deployment in the real world. In particular, this …
Mapping (SLAM) system, towards the goal of deployment in the real world. In particular, this …
Dynablox: Real-time detection of diverse dynamic objects in complex environments
L Schmid, O Andersson, A Sulser… - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
Real-time detection of moving objects is an essential capability for robots acting
autonomously in dynamic environments. We thus propose Dynablox, a novel online …
autonomously in dynamic environments. We thus propose Dynablox, a novel online …
Learning risk-aware quadrupedal locomotion using distributional reinforcement learning
Deployment in hazardous environments requires robots to understand the risks associated
with their actions and movements to prevent accidents. Despite its importance, these risks …
with their actions and movements to prevent accidents. Despite its importance, these risks …
Learning to walk in confined spaces using 3d representation
Legged robots have the potential to traverse complex terrain and access confined spaces
beyond the reach of traditional platforms thanks to their ability to carefully select footholds …
beyond the reach of traditional platforms thanks to their ability to carefully select footholds …
Adaptive estimation of UAV altitude in complex indoor environments using degraded and time-delayed measurements with time-varying uncertainties
A novel approach for robust Unmanned Aerial Vehicle (UAV) altitude estimation relying on
laser measurements that is designed for use in complex indoor environments is proposed in …
laser measurements that is designed for use in complex indoor environments is proposed in …
Walking in narrow spaces: Safety-critical locomotion control for quadrupedal robots with duality-based optimization
This paper presents a safety-critical locomotion control framework for quadrupedal robots.
Our goal is to enable quadrupedal robots to safely navigate in cluttered environments. To …
Our goal is to enable quadrupedal robots to safely navigate in cluttered environments. To …
Adaptive robotic information gathering via non-stationary Gaussian processes
Robotic Information Gathering (RIG) is a foundational research topic that answers how a
robot (team) collects informative data to efficiently build an accurate model of an unknown …
robot (team) collects informative data to efficiently build an accurate model of an unknown …
An Efficient Framework for Autonomous UAV Missions in Partially-Unknown GNSS-Denied Environments
Nowadays, multirotors are versatile systems that can be employed in several scenarios,
where their increasing autonomy allows them to achieve complex missions without human …
where their increasing autonomy allows them to achieve complex missions without human …
Reinforcement learning for collision-free flight exploiting deep collision encoding
M Kulkarni, K Alexis - arXiv preprint arXiv:2402.03947, 2024 - arxiv.org
This work contributes a novel deep navigation policy that enables collision-free flight of
aerial robots based on a modular approach exploiting deep collision encoding and …
aerial robots based on a modular approach exploiting deep collision encoding and …