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Paolo De Petris

5 accepted papers

2022

Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots

Mihir Kulkarni, Mihir Dharmadhikari, Marco Tranzatto, Samuel Zimmermann, Victor Reijgwart, Paolo De Petris +7
ICRA 2022poster

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 mines, often involve complex, large-scale and multi-branched topologies, while wi…

Cited by 112Source ↗code ↗Scholar ↗
2022

Motion Primitives-based Navigation Planning using Deep Collision Prediction

Huan Nguyen, Sondre Holm Fyhn, Paolo De Petris, Kostas Alexis
ICRA 2022poster

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 motion primitives library in the robot's velocity-steering angle space, gi…

Cited by 30Source ↗Scholar ↗
2022

Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty

Paolo De Petris, Mihir Dharmadhikari, Huan Nguyen, Kostas Alexis
IROS 2022poster

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 within GPS-denied, possibly unknown, confined and obstacle-filled environme…

Cited by 6Source ↗Scholar ↗
2021

Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization

Frank Mascarich, Paolo De Petris, Huan Nguyen, Nikhil Khedekar, Kostas Alexis
ICRA 2021poster

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 radiation measurements across a discretized 3D grid to derive a radiation gradie…

Cited by 11Source ↗Scholar ↗
2021

Resilient Collision-tolerant Navigation in Confined Environments

Paolo De Petris, Huan Nguyen, Mihir Kulkarni, Frank Mascarich, Kostas Alexis
ICRA 2021poster

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 maintains a low weight (<500g) and implements a combined rigid-compliant desi…

Cited by 24Source ↗Scholar ↗