Blar i NTNU Open på forfatter "Nguyen, Dinh Huan"
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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 ... -
Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control
Nguyen, Dinh Huan; Alexis, Konstantinos (Peer reviewed; Journal article, 2021)This letter presents the system design, modeling, and control of the Aerial Robotic Chain Manipulator. This new robot design offers the potential to exert strong forces and moments on the environment, carry and lift ... -
Learning-based Collision-free Navigation for Aerial Robots
Dyre-Moe, Magnus (Master thesis, 2022)Læringsbaserte tilnærminger i UAV-er har fått økt oppmerksomhet de siste årene. Motivasjonen for den økende populariteten stammer fra tradisjonelle metoder, som SLAM, hvor dataassosiasjon er et aktivt og utfordrende ... -
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 ... -
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 ... -
Motion Primitives-based Navigation Planning using Deep Collision Prediction
Nguyen, Dinh Huan; Holm Fyhn, Sondre; De Petris, Paolo; Alexis, Konstantinos (Chapter, 2022)This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision cost of each action sequence in a predefined ... -
Resilience in Control and Motion Planning for Autonomous robots
Nguyen, Dinh Huan (Doctoral theses at NTNU;2023:320, Doctoral thesis, 2023)Recent advances in autonomy research have enabled the widespread adoption of robots in multiple applications including for subterranean exploration, construction, agriculture, parcel delivery, and forestry. However, ... -
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 ... -
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. ... -
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 ... -
Uncertainty-Aware Visually-Attentive Navigation Using Deep Neural Networks
Nguyen, Dinh Huan; Andersen, Rasmus; Boukas, Evangelos; Alexis, Konstantinos (Peer reviewed; Journal article, 2023)Autonomous navigation and information gathering in challenging environments are demanding since the robot’s sensors may be susceptible to non-negligible noise, its localization and mapping may be subject to significant ...