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Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments



Paolo De Petris , Shehryar Khattak , Mihir Dharmadhikari , Gabriel Waibel , Huan Nguyen , Markus Montenegro , Nikhil Khedekar , Kostas Alexis , Marco Hutter

* 6 pages, 6 figures, Submitted to the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022 

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RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration



Paolo De Petris , Huan Nguyen , Mihir Dharmadhikari , Mihir Kulkarni , Nikhil Khedekar , Frank Mascarich , Kostas Alexis

* 8 pages, 9 figures. Submitted to the International Conference on Unmanned Aircraft Systems, 2022 

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CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge



Marco Tranzatto , Frank Mascarich , Lukas Bernreiter , Carolina Godinho , Marco Camurri , Shehryar Khattak , Tung Dang , Victor Reijgwart , Johannes Loeje , David Wisth , Samuel Zimmermann , Huan Nguyen , Marius Fehr , Lukas Solanka , Russell Buchanan , Marko Bjelonic , Nikhil Khedekar , Mathieu Valceschini , Fabian Jenelten , Mihir Dharmadhikari , Timon Homberger , Paolo De Petris , Lorenz Wellhausen , Mihir Kulkarni , Takahiro Miki , Satchel Hirsch , Markus Montenegro , Christos Papachristos , Fabian Tresoldi , Jan Carius , Giorgio Valsecchi , Joonho Lee , Konrad Meyer , Xiangyu Wu , Juan Nieto , Andy Smith , Marco Hutter , Roland Siegwart , Mark Mueller , Maurice Fallon , Kostas Alexis

* 50 pages, 25 figures. Accepted at Field Robotics, 2021 

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Motion Primitives-based Navigation Planning using Deep Collision Prediction



Huan Nguyen , Sondre Holm Fyhn , Paolo De Petris , Kostas Alexis

* 8 pages, 7 figures. Submitted to the IEEE International Conference on Robotics and Automation, 2022 

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Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots



Mihir Kulkarni , Mihir Dharmadhikari , Marco Tranzatto , Samuel Zimmermann , Victor Reijgwart , Paolo De Petris , Huan Nguyen , Nikhil Khedekar , Christos Papachristos , Lionel Ott , Roland Siegwart , Marco Hutter , Kostas Alexis

* 8 pages, 5 figures. Submitted to the IEEE International Conference on Robotics and Automation, 2022. Code available at https://github.com/ntnu-arl/gbplanner_ros 

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Resource-aware Online Parameter Adaptation for Computationally-constrained Visual-Inertial Navigation Systems



Pranay Mathur , Nikhil Khedekar , Kostas Alexis

* 6+1 pages, 8 figures 

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Visual-Thermal Camera Dataset Release and Multi-Modal Alignment without Calibration Information



Frank Mascarich , Kostas Alexis

* 8 pages, 8 figures 

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Appendix for the Motion Primitives-based Path Planning for Fast and Agile Exploration Method



Mihir Dharmadhikari , Tung Dang , Kostas Alexis


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Model Predictive Control for Micro Aerial Vehicles: A Survey



Huan Nguyen , Mina Kamel , Kostas Alexis , Roland Siegwart


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Anomalous Motion Detection on Highway Using Deep Learning



Harpreet Singh , Emily M. Hand , Kostas Alexis

* to be published in IEEE ICIP 2020 

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