Blar i NTNU Open på forfatter "Siegwart, Roland"
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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 ... -
Fast Optical Flow Estimation for End-Effector Stabilization
Johansen, Alexander (Master thesis, 2020)Målet med denne oppgaven var å undersøke og utvikle en høyhastighetstilstandsberegner med målet å stabilisere en mekansik arm montert under et omnidireksjonelt miniatyrisert luftfartøy. Rask (> 100hz) og nøyaktig (mm ... -
Model Predictive Control for Micro Aerial Vehicles: A Survey
Nguyen, Dinh Huan; Kamel, Mina; Siegwart, Roland; Alexis, Konstantinos (Chapter, 2021)This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the ... -
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge
Ebadi, Kamak; Bernreiter, Lukas; Biggie, Harel; Catt, Gavin; Chang, Yun; Chatterjee, Arghya; Denniston, Christopher; Deschênes, Simon-Pierre; Harlow, Kyle; Khattak, Shehryar; Nogueira, Lucas; Palieri, Matteo; Petráček, Pavel; Petrlík, Matěj; Reinke, Andrzej; Krátký, Vít; Zhao, Shibo; Agha-mohammadi, Ali-akbar; Alexis, Konstantinos; Heckman, Christoffer; Khosoussi, Kasra; Kottege, Navinda; Morrell, Benjamin; Hutter, Marco; Pauling, Fred; Pomerleau, François; Saska, Martin; Scherer, Sebastian; Siegwart, Roland; Williams, Jason; Carlone, Luca (Peer reviewed; Journal article, 2023)This paper surveys recent progress and discusses future opportunities for Simultaneous Localization And Mapping (SLAM) in extreme underground environments. SLAM in subterranean environments, from tunnels, caves, and man-made ...