Zobrazeno 1 - 10
of 37
pro vyhledávání: '"Dharmadhikari, Mihir"'
Autor:
Dharmadhikari, Mihir, Khedekar, Nikhil, De Petris, Paolo, Kulkarni, Mihir, Nissov, Morten, Alexis, Kostas
This paper presents field results and lessons learned from the deployment of aerial robots inside ship ballast tanks. Vessel tanks including ballast tanks and cargo holds present dark, dusty environments having simultaneously very narrow openings and
Externí odkaz:
http://arxiv.org/abs/2404.19045
Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots
Autor:
Dharmadhikari, Mihir, De Petris, Paolo, Kulkarni, Mihir, Khedekar, Nikhil, Nguyen, Huan, Stene, Arnt Erik, Sjøvold, Eivind, Solheim, Kristian, Gussiaas, Bente, Alexis, Kostas
This paper presents a solution for the autonomous exploration and inspection of Ballast Water Tanks (BWTs) of marine vessels using aerial robots. Ballast tank compartments are critical for a vessel's safety and correspond to confined environments oft
Externí odkaz:
http://arxiv.org/abs/2311.03838
This work presents a camera model for refractive media such as water and its application in underwater visual-inertial odometry. The model is self-calibrating in real-time and is free of known correspondences or calibration targets. It is separable a
Externí odkaz:
http://arxiv.org/abs/2310.16658
Autor:
Dharmadhikari, Mihir, Alexis, Kostas
This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular interest, th
Externí odkaz:
http://arxiv.org/abs/2303.07236
Autor:
Tranzatto, Marco, Dharmadhikari, Mihir, Bernreiter, Lukas, Camurri, Marco, Khattak, Shehryar, Mascarich, Frank, Pfreundschuh, Patrick, Wisth, David, Zimmermann, Samuel, Kulkarni, Mihir, Reijgwart, Victor, Casseau, Benoit, Homberger, Timon, De Petris, Paolo, Ott, Lionel, Tubby, Wayne, Waibel, Gabriel, Nguyen, Huan, Cadena, Cesar, Buchanan, Russell, Wellhausen, Lorenz, Khedekar, Nikhil, Andersson, Olov, Zhang, Lintong, Miki, Takahiro, Dang, Tung, Mattamala, Matias, Montenegro, Markus, Meyer, Konrad, Wu, Xiangyu, Briod, Adrien, Mueller, Mark, Fallon, Maurice, Siegwart, Roland, Hutter, Marco, Alexis, Kostas
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 the vision to facilitate the novel technologies necessary to reliably
Externí odkaz:
http://arxiv.org/abs/2207.04914
Autor:
De Petris, Paolo, Khattak, Shehryar, Dharmadhikari, Mihir, Waibel, Gabriel, Nguyen, Huan, Montenegro, Markus, Khedekar, Nikhil, Alexis, Kostas, Hutter, Marco
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 heterogeneous properties of the two systems and the ability to selecti
Externí odkaz:
http://arxiv.org/abs/2205.05477
Autor:
De Petris, Paolo, Nguyen, Huan, Dharmadhikari, Mihir, Kulkarni, Mihir, Khedekar, Nikhil, Mascarich, Frank, Alexis, Kostas
This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilient autonomous subterranean exploration. The system is custom built for
Externí odkaz:
http://arxiv.org/abs/2202.11055
Autor:
Tranzatto, Marco, Mascarich, Frank, Bernreiter, Lukas, Godinho, Carolina, Camurri, Marco, Khattak, Shehryar, Dang, Tung, Reijgwart, Victor, Loeje, Johannes, Wisth, David, Zimmermann, Samuel, Nguyen, Huan, Fehr, Marius, Solanka, Lukas, Buchanan, Russell, Bjelonic, Marko, Khedekar, Nikhil, Valceschini, Mathieu, Jenelten, Fabian, Dharmadhikari, Mihir, Homberger, Timon, De Petris, Paolo, Wellhausen, Lorenz, Kulkarni, Mihir, Miki, Takahiro, Hirsch, Satchel, Montenegro, Markus, Papachristos, Christos, Tresoldi, Fabian, Carius, Jan, Valsecchi, Giorgio, Lee, Joonho, Meyer, Konrad, Wu, Xiangyu, Nieto, Juan, Smith, Andy, Hutter, Marco, Siegwart, Roland, Mueller, Mark, Fallon, Maurice, Alexis, Kostas
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy hard to achieve. This has motivated the DARPA Subterranean Challenge, w
Externí odkaz:
http://arxiv.org/abs/2201.07067
Autor:
Kulkarni, Mihir, Dharmadhikari, Mihir, Tranzatto, Marco, Zimmermann, Samuel, Reijgwart, Victor, De Petris, Paolo, Nguyen, Huan, Khedekar, Nikhil, Papachristos, Christos, Ott, Lionel, Siegwart, Roland, Hutter, Marco, Alexis, Kostas
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, such as cave networks and underground mines, often involve complex, l
Externí odkaz:
http://arxiv.org/abs/2111.06482
This manuscript presents enhancements on our motion-primitives exploration path planning method for agile exploration using aerial robots. The method now further integrates a global planning layer to facilitate reliable large-scale exploration. The i
Externí odkaz:
http://arxiv.org/abs/2012.03228