Blar i NTNU Open på forfatter "Dharmadhikari, Mihir"

Viser treff 1-14 av 14

    • Autonomous Cave Exploration using Aerial Robots 

      Dharmadhikari, Mihir; Nguyen, Dinh Huan; Mascarich, Frank; Khedekar, Nikhil Vijay; Alexis, Konstantinos (Chapter, 2021)
      In this paper we present the complete system design for an aerial robot capable of autonomous exploration inside natural cave environments. Cave networks involve diverse and complicated topologies, complex geometries and ...

    • Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots 

      Dharmadhikari, Mihir; De Petris, Paolo; Kulkarni, Mihir; Khedekar, Nikhil Vijay; Nguyen, Dinh Huan; Stene, Arnt Erik; Sjøvold, Eivind; Solheim, Kristian; Gussiaas, Bente; Alexis, Konstantinos (Chapter, 2023)
      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 ...

    • Autonomous teamed exploration of subterranean environments using legged and aerial robots 

      Kulkarni, Mihir; Dharmadhikari, Mihir; Tranzatto, Marco; Zimmermann, Samuel; Reijgwart, Victor; De Petris, Paolo; Nguyen, Dinh Huan; Khedekar, Nikhil Vijay; Papachristos, Christos; Ott, Lionel; Siegwart, Roland; Hutter, Marco; Alexis, Konstantinos (Chapter, 2022)
      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 ...

    • CERBERUS in the DARPA Subterranean Challenge 

      Tranzatto, Marco; Miki, Takahiro; Dharmadhikari, Mihir; Bernreiter, Lukas; Kulkarni, Mihir; Mascarich, Frank; Andersson, Olov; Khattak, Shehryar; Hutter, Marco; Siegwart, Roland; Alexis, Konstantinos (Peer reviewed; Journal article, 2022)
      This article presents the core technologies and deployment strategies of Team CERBERUS that enabled our winning run in the DARPA Subterranean Challenge finals. CERBERUS is a robotic system-of-systems involving walking and ...

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

      Tranzatto, Marco; Mascarich, Frank; Bernreiter, Lukas; Godinho, Carolina; Camurri, Marco; Khattak, Shehryar; Dang, Tung; Reijgwart, Victor; Loeje, Johannes; Wisth, David; Zimmermann, Samuel; Nguyen, Dinh Huan; Fehr, Marius; Solanka, Lukas; Buchanan, Russell; Bjelonic, Marko; Khedekar, Nikhil Vijay; 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, Konstantinos (Journal article, 2021)
      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 ...

    • Hypergame-based Adaptive Behavior Path Planning for Combined Exploration and Visual Search 

      Dharmadhikari, Mihir; Deshpande, Harshal; Dang, Tung; Alexis, Konstantinos (Chapter, 2021)
      In this work, we present an adaptive behavior path planning method for autonomous exploration and visual search of unknown environments. As volumetric exploration and visual coverage of unknown environments, with possibly ...

    • Manhole Detection and Traversal for Exploration of Ballast Water Tanks using Micro Aerial Vehicles 

      Dharmadhikari, Mihir; de Petris, Paolo; Nguyen, Dinh Huan; Kulkarni, Mihir; Khedekar, Nikhil Vijay; Alexis, Konstantinos (Peer reviewed; Journal article, 2023)
      This paper presents a method for the autonomous exploration of multiple compartments of a Ballast Water Tank inside a vessel using Micro Aerial Vehicles. Navigation across the compartments of ballast tanks often requires ...

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

      De Petris, Paolo; Khattak, Shehryar; Dharmadhikari, Mihir; Waibel, Gabriel; Nguyen, Dinh Huan; Montenegro, Markus; Khedekar, Nikhil Vijay; Alexis, Konstantinos; Hutter, Marco (Chapter, 2022)
      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 ...

    • Path and Motion Planning for Unmanned Surface Vehicles subject to the International Regulations for Preventing Collisions at Sea 

      Furre, Sander (Master thesis, 2022)
      I denne masteroppgaven utforskes en metode for å muliggjøre ruteplanlegging og kollisjonsunngåelse for overflatefartøy i storskala kystområder uten menneskelig innblanding. Guidingsystemet som er designet og implementert ...

    • Real-Time Strategy game inspired Multi-Agent path planning 

      Nystein, Ola Netland (Master thesis, 2023)
      Bruken av autonome roboter og robotstyring står i fokus for nåtidens industrielle og vitenskapelige forskning. Ved bruk avansert teknologi kan samfunnet nå håndtere kompliserte og farlige situasjoner ved å bruke fjernstyrte ...

    • Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty 

      De Petris, Paolo; Dharmadhikari, Mihir; Nguyen, Dinh Huan; Alexis, Konstantinos (Chapter, 2022)
      This paper contributes a novel strategy towards risk-aware motion planning for collision-tolerant aerial robots subject to localization uncertainty. Attuned to the fact that micro aerial vehicles are often tasked to navigate ...

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

      De Petris, Paolo; Nguyen, Dinh Huan; Dharmadhikari, Mihir; Kulkarni, Mihir; Khedekar, Nikhil Vijay; Mascarich, Frank; Alexis, Konstantinos (Chapter, 2022)
      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. ...

    • Selective inspection of ship ballast/cargo tanks by identifying inspection-important geometries 

      Wammer, Ole Andreas (Master thesis, 2023)
      Nye teknologiske framskritt for autonome droner har skapt mange muligheter og flere nye løsninger. En av disse er for strukturell inspeksjon av ballasttanker og lastetanker i skip. Slike inspeksjoner blir i dag utført med ...

    • Semantics-aware Exploration and Inspection Path Planning 

      Dharmadhikari, Mihir; Alexis, Konstantinos (Peer reviewed; Journal article, 2023)
      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 ...