Title
CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments Shehryar Khattak Timon Homberger Lukas Bernreiter Julian Nubert Olov Andersson Roland Siegwart K. Alexis Marco Hutter 21 0 0 10 May 2025
Map Prediction and Generative Entropy for Multi-Agent Exploration Alexander Spinos Bradley Woosley Justin Rokisky Christopher Korpela John G. Rogers III Brian A. Bittner 72 1 0 22 Jan 2025
Capability-aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex Environments M. Ginting K. Otsu Mykel J. Kochenderfer Ali-akbar Agha-mohammadi 44 3 0 01 Nov 2024
Multi-Objective Risk Assessment Framework for Exploration Planning Using Terrain and Traversability Analysis Riana Gagnon Souleiman V. Varadharajan Giovanni Beltrame 15 0 0 04 Oct 2024
Scaling 3D Reasoning with LMMs to Large Robot Mission Environments Using Datagraphs W. J. Meijer A. C. Kemmeren E.H.J. Riemens J. E. Fransman M. V. Bekkum G. J. Burghouts J. D. V. Mil 25 0 0 15 Jul 2024
Traversing Mars: Cooperative Informative Path Planning to Efficiently Navigate Unknown Scenes Friedrich M. Rockenbauer Jaeyoung Lim Marcus G. Müller Roland Siegwart L. Schmid 19 2 0 08 Jun 2024
RB5 Low-Cost Explorer: Implementing Autonomous Long-Term Exploration on Low-Cost Robotic Hardware Adam Seewald Marvin Chancán Connor M. McCann Seonghoon Noh Omeed Fallahi Hector Castillo Ian Abraham A. Dollar 25 0 0 14 Feb 2024
Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding M. Kulkarni Kostas Alexis 18 14 0 06 Feb 2024
Aerial Field Robotics M. Kulkarni Brady G. Moon Kostas Alexis Sebastian A. Scherer 22 2 0 19 Jan 2024
Safe Motion Planning for Quadruped Robots Using Density Functions S. Narayanan Andrew Zheng Umesh Vaidya 22 1 0 14 Dec 2023
$An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry$ An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry Mohit Singh M. Dharmadhikari Kostas Alexis 13 2 0 25 Oct 2023
Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped Ioannis Dadiotis Arturo Laurenzi Nikos Tsagarakis 14 6 0 04 Oct 2023
Incremental Multimodal Surface Mapping via Self-Organizing Gaussian Mixture Models K. Goel Wennie Tabib 3DV 16 8 0 19 Sep 2023
MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU Emre Adabag Miloni Atal William Gerard Brian Plancher 6 13 0 15 Sep 2023
Four years of multi-modal odometry and mapping on the rail vehicles Yusheng Wang Weiwei Song Yi Zhang Fei Huang Zhiyong Tu Ruoying Li Shimin Zhang Y. Lou 9 3 0 22 Aug 2023
Dynamic Modeling and Analysis of Impact-resilient MAVs Undergoing High-speed and Large-angle Collisions with the Environment Zhichao Liu Konstantinos Karydis 19 1 0 21 Jul 2023
Risk-Averse Trajectory Optimization via Sample Average Approximation T. Lew Riccardo Bonalli Marco Pavone 21 9 0 06 Jul 2023
Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Exploration Alexander Kyuroson Niklas Dahlquist Nikolaos Stathoulopoulos Vignesh Kottayam Viswanathan A. Koval G. Nikolakopoulos 12 4 0 27 Apr 2023
Event Camera and LiDAR based Human Tracking for Adverse Lighting Conditions in Subterranean Environments Mario A. V. Saucedo Akash Patel Rucha Sawlekar Akshit Saradagi Christoforos Kanellakis Ali-Akbar Agha-Mohammadi G. Nikolakopoulos 15 6 0 18 Apr 2023
Semantics-aware Exploration and Inspection Path Planning M. Dharmadhikari K. Alexis 11 11 0 13 Mar 2023
ArtPlanner: Robust Legged Robot Navigation in the Field Lorenz Wellhausen Marco Hutter 12 17 0 02 Mar 2023
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge N. Kottege Jason L. Williams Brendan Tidd Fletcher Talbot Ryan Steindl ... J. Manderson Corey Medek M. O'Brien Shengkang Chen R. Arkin 15 9 0 26 Feb 2023
Flexible Supervised Autonomy for Exploration in Subterranean Environments Harel Biggie Eugene R. Rush Danny G. Riley Shakeeb Ahmad Michael T. Ohradzansky ... Daniel Torres Steve McGuire Eric W. Frew Christoffer Heckman J. Humbert 18 14 0 02 Jan 2023
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization Qiayuan Liao Zhongyu Li A. Thirugnanam Jun Zeng K. Sreenath 19 16 0 29 Dec 2022
Optimal Control for Quadruped Locomotion using LTV MPC Andrew Zheng S. Narayanan 21 2 0 10 Dec 2022
WiSwarm: Age-of-Information-based Wireless Networking for Collaborative Teams of UAVs Vishrant Tripathi I. Kadota E. Tal Muhammad Shahir Rahman Alexander Warren S. Karaman E. Modiano 17 13 0 06 Dec 2022
Collision-tolerant Aerial Robots: A Survey Paolo De Petris S. Carlson C. Papachristos K. Alexis 23 4 0 06 Dec 2022
Virtual Reality via Object Pose Estimation and Active Learning: Realizing Telepresence Robots with Aerial Manipulation Capabilities Jongseok Lee R. Balachandran K. Kondak Andre Coelho M. Stefano Matthias Humt Jianxiang Feng Tamim Asfour Rudolph Triebel 16 8 0 18 Oct 2022
Collaborative Human-Robot Exploration via Implicit Coordination Yves Georgy Daoud K. Goel Nathan Michael Wennie Tabib 14 1 0 19 Sep 2022
Proprioceptive State Estimation of Legged Robots with Kinematic Chain Modeling Varun Agrawal Sylvain Bertrand Robert Griffin F. Dellaert 19 7 0 12 Sep 2022
Perceptive Locomotion through Nonlinear Model Predictive Control R. Grandia Fabian Jenelten Shao-hua Yang Farbod Farshidian Marco Hutter 10 140 0 17 Aug 2022
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned Marco Tranzatto M. Dharmadhikari Lukas Bernreiter Marco Camurri Shehryar Khattak ... M. Mueller Maurice F. Fallon Roland Siegwart Marco Hutter K. Alexis 34 34 0 11 Jul 2022
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Fabian Jenelten R. Grandia Farbod Farshidian Marco Hutter 35 55 0 28 Jun 2022
Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments Xianmei Lei Taeyeon Kim Nicolas Marchal Daniel Pastor Barry Ridge ... Edward Terry Fernando Chavez Thomas Touma K. Otsu A. Agha 17 6 0 21 Jun 2022
UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT Matěj Petrlík Pavel Petráček Vít Krátký Tomáš Musil Yurii Stasinchuk ... Tomáš Báča Daniel Heřt M. Pecka Tomáš Svoboda M. Saska 15 24 0 16 Jun 2022
ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent Connectivity Maíra Saboia Lillian Clark Vivek Thangavelu J. Edlund K. Otsu ... T. Vaquero Giovanni Beltrame N. Napp G. Pessin Ali-akbar Agha-mohammadi 16 26 0 05 Jun 2022
Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments Paolo De Petris Shehryar Khattak M. Dharmadhikari Gabriel Waibel Huan Nguyen Markus Montenegro Nikhil Khedekar K. Alexis Marco Hutter 11 12 0 11 May 2022
Elevation Mapping for Locomotion and Navigation using GPU Takahiro Miki Lorenz Wellhausen R. Grandia Fabian Jenelten Timon Homberger Marco Hutter 14 89 0 27 Apr 2022
Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation Yunho Kim Chanyoung Kim Jemin Hwangbo 28 10 0 19 Apr 2022
Copiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface Marcel Kaufmann Robert Trybula Ryan Stonebraker Michael Milano Gustavo Correa T. Vaquero K. Otsu Ali-akbar Agha-mohammadi Giovanni Beltrame 13 3 0 13 Apr 2022
Perception-aware receding horizon trajectory planning for multicopters with visual-inertial odometry Xiangyu Wu Shuxiao Chen K. Sreenath M. Mueller 30 10 0 07 Apr 2022
Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments Jonas Frey David Hoeller Shehryar Khattak Marco Hutter 11 53 0 29 Mar 2022
Learning-based Localizability Estimation for Robust LiDAR Localization Julian Nubert E. Walther Shehryar Khattak Marco Hutter 16 29 0 11 Mar 2022
Design and Characterization of 3D Printed, Open-Source Actuators for Legged Locomotion Karthik Urs Challen Enninful Adu Elliott J. Rouse Talia Y. Moore AI4CE 18 7 0 24 Feb 2022
RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration Paolo De Petris Huan Nguyen M. Dharmadhikari M. Kulkarni Nikhil Khedekar Frank Mascarich K. Alexis 14 24 0 22 Feb 2022
Learning robust perceptive locomotion for quadrupedal robots in the wild Takahiro Miki Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 15 674 0 20 Jan 2022
Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots M. Kulkarni M. Dharmadhikari Marco Tranzatto Samuel Zimmermann Victor Reijgwart ... C. Papachristos Lionel Ott Roland Siegwart Marco Hutter K. Alexis 21 77 0 11 Nov 2021
Reconstructing occluded Elevation Information in Terrain Maps with Self-supervised Learning Maximilian Stolzle Takahiro Miki L. Gerdes M. Azkarate Marco Hutter 27 17 0 15 Sep 2021
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots David Wisth Marco Camurri Maurice F. Fallon 39 114 0 15 Jul 2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge A. Agha K. Otsu B. Morrell David D. Fan Rohan Thakker ... Giovanni Beltrame G. Nikolakopoulos David Hyunchul Shim Luca Carlone J. W. Burdick 14 140 0 21 Mar 2021