Kostas Alexis

Aerial Gym -- Isaac Gym Simulator for Aerial Robots

May 25, 2023
Mihir Kulkarni, Theodor J. L. Forgaard, Kostas Alexis

* 4 pages, 3 figures. To appear in the ICRA 2023 workshop on The Role of Robotics Simulators for Unmanned Aerial Vehicles. Code available at https://github.com/ntnu-arl/aerial_gym_simulator

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Semantics-aware Exploration and Inspection Path Planning

Mar 13, 2023
Mihir Dharmadhikari, Kostas Alexis

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* 8 pages, 7 figures, Accepted for the 2023 IEEE International Conference on Robotics and Automation (ICRA)

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Collision-tolerant Aerial Robots: A Survey

Dec 06, 2022
Paolo De Petris, Stephen J. Carlson, Christos Papachristos, Kostas Alexis

* 12 pages, 1 figure

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Present and Future of SLAM in Extreme Underground Environments

Aug 02, 2022
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petráček, Matěj Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone

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* 21 pages including references. This survey paper is submitted to IEEE Transactions on Robotics for pre-approval

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Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned

Jul 11, 2022
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoit Casseau, Timon Homberger, Paolo De Petris, Lionel Ott, Wayne Tubby, Gabriel Waibel, Huan Nguyen, Cesar Cadena, Russell Buchanan, Lorenz Wellhausen, Nikhil Khedekar, Olov Andersson, Lintong Zhang, Takahiro Miki, Tung Dang, Matias Mattamala, Markus Montenegro, Konrad Meyer, Xiangyu Wu, Adrien Briod, Mark Mueller, Maurice Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis

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

May 11, 2022
Paolo De Petris, Shehryar Khattak, Mihir Dharmadhikari, Gabriel Waibel, Huan Nguyen, Markus Montenegro, Nikhil Khedekar, Kostas Alexis, Marco Hutter

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* 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

Feb 22, 2022
Paolo De Petris, Huan Nguyen, Mihir Dharmadhikari, Mihir Kulkarni, Nikhil Khedekar, Frank Mascarich, Kostas Alexis

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* 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

Jan 18, 2022
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

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

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Motion Primitives-based Navigation Planning using Deep Collision Prediction

Jan 11, 2022
Huan Nguyen, Sondre Holm Fyhn, Paolo De Petris, Kostas Alexis

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* 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

Nov 11, 2021
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

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* 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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