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LunarNav: Crater-based Localization for Long-range Autonomous Lunar Rover Navigation


Jan 03, 2023
Shreyansh Daftry, Zhanlin Chen, Yang Cheng, Scott Tepsuporn, Brian Coltin, Ussama Naam, Lanssie Mingyue Ma, Shehryar Khattak, Matthew Deans, Larry Matthies

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* IEEE Aerospace Conference 2023. arXiv admin note: text overlap with arXiv:2203.10073 

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X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments


Nov 30, 2022
Turcan Tuna, Julian Nubert, Yoshua Nava, Shehryar Khattak, Marco Hutter

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* 17 Pages, 17 Figures Submitted to IEEE Transactions On Robotics. Supplementary Video: https://www.youtube.com/watch?v=f-i-br-l5QA Project Website: https://sites.google.com/leggedrobotics.com/x-icp 

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A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets


Nov 02, 2022
Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, Cesar Cadena

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* arXiv admin note: text overlap with arXiv:2203.00308 

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LiDAR-guided object search and detection in Subterranean Environments


Oct 26, 2022
Manthan Patel, Gabriel Waibel, Shehryar Khattak, Marco Hutter

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* 6 pages, 5 Figures, 2 Tables, conference: IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR-2022), Seville, Spain 

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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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Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments


Mar 29, 2022
Jonas Frey, David Hoeller, Shehryar Khattak, Marco Hutter

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* under review for IROS22 

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Learning-based Localizability Estimation for Robust LiDAR Localization


Mar 11, 2022
Julian Nubert, Etienne Walther, Shehryar Khattak, Marco Hutter

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* 8 pages, 7 figures, 4 tables 

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Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots


Mar 02, 2022
Julian Nubert, Shehryar Khattak, Marco Hutter

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* 7 pages, 6 figures, 2 tables 

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