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Mallikarjuna Vayugundla

4 accepted papers

2021

Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps

Riccardo Giubilato, Mallikarjuna Vayugundla, Wolfgang Stürzl, Martin J. Schuster, Armin Wedler, Rudolph Triebel
IROS 2021poster

Future planetary missions will rely on rovers that can autonomously explore and navigate in unstructured environments. An essential element is the ability to recognize places that were already visited or mapped. In this work, we leverage the ability of stereo cameras to provide both visual and depth…

Cited by 8Source ↗Scholar ↗
2020

Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments

Cedric Le Gentil, Mallikarjuna Vayugundla, Riccardo Giubilato, Wolfgang Stürzl, Teresa Vidal-Calleja, Rudolph Triebel
IROS 2020poster

The ability to recognize previously mapped locations is an essential feature for autonomous systems. Unstructured planetary-like environments pose a major challenge to these systems due to the similarity of the terrain. As a result, the ambiguity of the visual appearance makes state-of-the-art visua…

Cited by 18Source ↗Scholar ↗
2020

Relocalization With Submaps: Multi-Session Mapping for Planetary Rovers Equipped With Stereo Cameras

Riccardo Giubilato, Mallikarjuna Vayugundla, Martin J. Schuster, Wolfgang Stürzl, Armin Wedler, Rudolph Triebel +1
RA-L 2020

To enable long term exploration of extreme environments such as planetary surfaces, heterogeneous robotic teams need the ability to localize themselves on previously built maps. While the Localization and Mapping problem for single sessions can be efficiently solved with many state of the art soluti

Cited by 21Source ↗Scholar ↗
2020

The ARCHES Space-Analogue Demonstration Mission: Towards Heterogeneous Teams of Autonomous Robots for Collaborative Scientific Sampling in Planetary Exploration

Martin J. Schuster, Marcus Gerhard Müller, Sebastian G. Brunner, Hannah Lehner, Peter Lehner, Ryo Sakagami +32
RA-L 2020

Teams of mobile robots will play a crucial role in future missions to explore the surfaces of extraterrestrial bodies. Setting up infrastructure and taking scientific samples are expensive tasks when operating in distant, challenging, and unknown environments. In contrast to current single-robot spa

Cited by 92Source ↗Scholar ↗