Blar i NTNU Open på forfatter "Kulkarni, Mihir"
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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 Mapping and Spectroscopic Analysis of Distributed Radiation Fields using Aerial Robots
Mascarich, Frank; Kulkarni, Mihir; Wilson, Taylor; Alexis, Konstantinos (Peer reviewed; Journal article, 2022)This paper presents a strategy for field estimation and informative path planning towards autonomous mapping and radiological characterization of distributed gamma radiation fields within confined GPS-denied environments ... -
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 ... -
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 ... -
MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation
Khedekar, Nikhil; Kulkarni, Mihir; Alexis, Konstantinos (Chapter, 2022)This paper presents a framework for Multi-Modal SLAM (MIMOSA) that utilizes a nonlinear factor graph as the underlying representation to provide loosely-coupled fusion of any number of sensing modalities. Tailored to the ... -
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 ... -
Resilient Collision-tolerant Navigation in Confined Environments
De Petris, Paolo; Nguyen, Dinh Huan; Kulkarni, Mihir; Mascarich, Frank; Alexis, Konstantinos (Chapter, 2021)This work presents the design and autonomous navigation policy of the Resilient Micro Flyer, a new type of collision-tolerant robot tailored to fly through extremely confined environments and manhole-sized tubes. The robot ... -
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. ... -
Semantically-enhanced Deep Collision Prediction for Autonomous Navigation using Aerial Robots
Kulkarni, Mihir; Nguyen, Dinh Huan; Alexis, Konstantinos (Peer reviewed; Journal article, 2023)This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation ... -
Task-driven Compression for Collision Encoding based on Depth Images
Kulkarni, Mihir; Alexis, Konstantinos (Peer reviewed; Journal article, 2023)This paper contributes a novel learning-based method for aggressive task-driven compression of depth images and their encoding as images tailored to collision prediction for robotic systems. A novel 3D image processing ...