• 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 Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization 

      Mascarich, Frank; De Petris, Paolo; Nguyen, Dinh Huan; Khedekar, Nikhil Vijay; Alexis, Konstantinos (Chapter, 2021)
      This paper contributes a method designed to enable autonomous distributed 3D nuclear radiation field mapping. The algorithm uses a single radiation sensor and a sequence of spatially distributed and robotically acquired ...
    • Resource-aware Online Parameter Adaptation for Computationally -constrained Visual-Inertial Navigation Systems 

      Mathur, Pranay; Khedekar, Nikhil Vijay; Alexis, Konstantinos (Chapter, 2021)
      In this paper, a computational resources-aware parameter adaptation method for visual-inertial navigation systems is proposed with the goal of enabling the improved deployment of such algorithms on computationally constrained ...