Blar i Institutt for teknisk kybernetikk på forfatter "Alexis, Konstantinos"

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    • 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 ...

    • Online Recommendation-based Convolutional Features for Scale-Aware Visual Tracking 

      Duan, Ran; Fu, Changhong; Alexis, Konstantinos; Kayacan, Erdal (Chapter, 2021)
      In this paper, we develop an online learning-based visual tracking framework that can optimize the target model and estimate the scale variation for object tracking. We propose a recommender-based tracker, which is capable ...

    • Path and Motion Planning for Unmanned Surface Vehicles subject to the International Regulations for Preventing Collisions at Sea 

      Furre, Sander (Master thesis, 2022)
      I denne masteroppgaven utforskes en metode for å muliggjøre ruteplanlegging og kollisjonsunngåelse for overflatefartøy i storskala kystområder uten menneskelig innblanding. Guidingsystemet som er designet og implementert ...

    • 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 ...

    • Real-Time Vision-Aided Inertial Navigation for Vertical Take-Off and Landing of Unmanned Aerial Vehicles 

      Veggeland, Oskar Gjesdal (Master thesis, 2022)
      Denne oppgaven presenterer en analyse av Visual Inertial Odometry (VIO) som en tilstandsestimator for autonome fly med faste vinger under vertikal start og landing (VTOL). Et teoretisk grunnlag for VIO presenteres sammen ...

    • 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 ...

    • ResiPlan: Closing the Planning-Acting Loop for Safe Underwater Navigation 

      Xanthidis, Marios; Kelasidi, Eleni; Alexis, Konstantinos (Journal article, 2023)
      Autonomous operation in underwater environments is, arguably, one of the most complex domains. It requires safe operations under the presence of unpredictable surge, currents, uncertainty, and dynamic obstacles that ...

    • 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 ...

    • 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. ...

    • Semantic Dataset Generation and Detection For Industrial Environments 

      Udnæs, Marius (Master thesis, 2022)
      Punktskyinnhenting og semantisk segmentering er et viktig verktøy i digitaltalis- eringen av industrianlegg, men mye av dette arbeidet forblir idag manuelt. I samarbeid med Cognite, som leverer Cognite Data Fusion (CDF) ...

    • 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 ...

    • Semantics-aware Exploration and Inspection Path Planning 

      Dharmadhikari, Mihir Rahul; Alexis, Konstantinos (Chapter, 2023)
      This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities ...

    • Semantics-aware Exploration and Inspection Path Planning 

      Dharmadhikari, Mihir; Alexis, Konstantinos (Peer reviewed; Journal article, 2023)
      This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities ...

    • Software Development for a 5-DOF Shotcrete Robot Using ROS, MoveIt, and Gazebo 

      Frestad, Henning Leirvik (Master thesis, 2023)
      Denne avhandlingen utforsker Robot Operating System (ROS) som et alternativ for utviklingen av robotprogramvare for AMV sin maskinportefølje. Den dokumenterer spesifikt prosessen med å implementere ROS for 4200 Shotcrete ...

    • Task-driven Compression for Collision Encoding based on Depth Images 

      Kulkarni, Mihir; Alexis, Konstantinos (Peer reviewed; Journal article, 2023)
      This paper contributes a novel learning-based method for aggressive task-driven compression of depth images and their encoding as images tailored to collision prediction for robotic systems. A novel 3D image processing ...

    • Terrain Recognition and Contact Force Estimation through a Sensorized Paw for Legged Robots 

      Vangen, Aleksander; Barnwal, Tejal; Olsen, Jørgen Anker; Alexis, Konstantinos (Chapter, 2023)
      This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact ...

    • Trajectory Optimization for Optimal Jumping of Quadrupeds in Low-Gravity Environments 

      Borgen, Kristian Novsett (Master thesis, 2023)
      Denne masteroppgaven presenterer en baneoptimeringsmetode for å generere dynamiske og naturlige hoppebevegelser for firbente roboter. Arbeidet er basert på utviklingen av en firbent robot på Autonomous Robots Lab på Norges ...