Browsing NTNU Open by Author "Khedekar, Nikhil Vijay"

Now showing items 1-10 of 10

    • 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 ...

    • 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: 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 ...

    • Implementation and evaluation of 16-bit thermal-inertial odometry using non-linear factor graphs 

      Falck, Eirik Flemsæter (Master thesis, 2022)
      Denne oppgaven presenterer adapsjonen og evalueringen av algoritmen Semi-direct Visual Odometry (SVO) til å bruke 16-biters termiske bilder, samt implementasjonen av en faktorgraf-basert backend. Varmekamera kan passivt ...

    • 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 ...

    • 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 ...

    • 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. ...