Blar i NTNU Open på forfatter "Siegwart, Roland"

Viser treff 1-6 av 6

    • 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 ...